fixed naming conventions
Added geometry groups to the KinBody XML

There is now an optional "group" attribute that can be added to <Geom>
elements. If this tag is specified, the geometry is added to a separate
geometry group in the LinkInfo struct. This geometry can be queried or
applied at runtime just like any other geometry group.

The geometry is created as usual if the "group" attribute is omitted, is empty,
or has the value "self" (the name of the default geometry group)..
IkParameterization::GetConfigurationSpecification
Merge pull request #310 from personalrobotics/feature/GeometryInfoXML

Added geometry groups to the KinBody XML
renamed quadric -> quartic
Merge pull request #308 from personalrobotics/feature/IkParameterization

Added per-manipulator ikparam_value groups
IkParameterization::GetConfigurationSpecification python bindings
Merge branch 'master' into production
fix GetConfigurationSpecification
add assert in Remove
ikfast add error condition
collada writer now writes joints with full sidref, properly handles external joints
fix collada writer
fixed reading/writing link state for external references
change to _ValidateQuartic
make kinematicsgeometry hash more consistent
Missing boost-system library for c++ examples
Merge pull request #313 from slug/fixes/boost-system

Missing boost-system library for c++ examples
asserts for boost >= 1.54
Merge branch 'production'