Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
sonar mods
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
gate using velocity added
Extra changes to Bins to fix errors in the bin decision algorithm.
Added distance based cutoff for tasks.
enabled forwards center to use constraints, made torpedos use this constraint to enforce a limit on time spent centering
updated Transdec2014.yml to avoid buoys and added bin events to bins
all issues with config shoud be fixed.
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014

Conflicts:
	data/config/vision/Transdec2014.yml
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/SonarManip2014.py
Merge branch 'vehicle_refactor_2014' of https://github.com/mxlan/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014