ikfast.py: make compatible with trigsimp() of sympy>=0.7.3 (see #290)

Simply undo the simplification of sum of sin/cos products.
Switched to InstallSymlink for creating symlinks

OpenRAVE previously created symlinks with an install(CODE ...) directive
during the install step. Symlinks created in this way are not packaged
correctly when debhelper to build a Debian package. I switched to the
InstallSymlink macro, from [1], which properly handles this case. This
script is part of Bro [2] and, thus, is is covered by a 3-clause BSD
license [3].

[1] https://github.com/bro/cmake/blob/master/InstallSymlink.cmake
[2] http://www.bro.org/
[3] https://github.com/bro/bro/blob/master/COPYING
Merge pull request #304 from personalrobotics/cmake-symlink

Switched to InstallSymlink for creating symlinks
Added support for the GT_None GeometryType.
Added a case for GT_None to ComputeAABB.
Merge pull request #306 from personalrobotics/geomtype-none

Added support for the GT_None GeometryType
qtcoin uses ReadTrimesh to load render meshes

QtCoin previously only tried to load render geometry (i.e. the mesh returned by
GetRenderFilename) with an internal loader. This loader does not support
several types of meshes (notably COLLADA and, in some cases, STL) that are
supported for collision geometry. Collision geometry is loaded through a
different pipeline, which calls ReadTrimesh.

I changed the logic in QtCoin to fall back on ReadTrimesh if loading the render
geometry fails. This replaces the previous fall-through logic which would
immediately fall back on displaying the collision mesh. This is very important
for visual-only geometry that does have collision geometry (e.g. using GT_None
or by specifying a trivial primitive).
Merge pull request #307 from personalrobotics/feature/qtcoin-render-fix

qtcoin uses ReadTrimesh to load render meshes
Per-manipulator ExtractIkParameterization

Added an overload to ExtractIkParameterization that can optionally filter by
robot and/or manipulator. These names are appended to the end of the group
name: "ikparam_values <iktype> [robot_name [manipulator_name]]".
Added GetIkConfigurationSpecification

This is a helper function on Robot::Manipulator that mirrors the functionality
of GetArmConfiguration. It constructs a ConfigurationSpecification that
includes an "ikparam_values" group (of a specified IkParameterizationType) for
the manipulator, referenced by robot and manipulator name.
Merge branch 'master' of https://github.com/rdiankov/openrave
Merge pull request #292 from kb0n/sympy_074_trigsimp

ikfast.py: make compatible with trigsimp() of sympy>=0.7.3 (see #290)
added flag to toggle logging in idealcontroller
fixed naming conventions
Merge pull request #309 from personalrobotics/feature/IdealControllerLogging

Added flag to toggle logging in IdealController
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
Merge pull request #308 from personalrobotics/feature/IkParameterization

Added per-manipulator ikparam_value groups
IkParameterization::GetConfigurationSpecification python bindings