Added Saliency Detector in GateDetector since we're not using GateDetector anymore
Saliency detector is based on shapes and not on color
testing modified for tank testing
stuff
Merge remote-tracking branch 'rajath/vehicle_refactor_2014' into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Modified the makefile to add the pneumatics system to the normal build system
Added event support for new torpedo detector and config file for it, also a few other assorted things as well
ai stuff, config for torps, bunch of stuff for sonar manip
minor mods for full torp task
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
minor fixes to Task (super call added in enter) and hasQueryBeenFalse (removed timerObject.query in constructor, realized it wasn't necessary.)
Renamed gate and uprights to match the naming scheme. Added buffers to uprights, and removed unnecessary passcounter and switch.
Minor fix to a super call that was copy pasted
Added getCheckpoint and setCheckpoint functions to checkpoints.py
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
Added ChrisOrangePipe and newstuff to whitebalance. GateDetector is testbed for contour matching. Bindetector now includes saliency and additional to try and see things on the bottom
Added ChrisPipeDetector
fixed bootstrap, installs opencv dependencies
fix to bootstrap, make opt ram local and chown
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
Pipe checkpoint states added
Save a checkpoint above a pipe, it will store the assumed location of the
next pipe if given a distance.
other state will goto a checkpoint from another pipe checkpoint.