Merge branch 'unstable' of https://github.com/quangounet/TOPP into rosenunstable

Conflicts:
	src/TOPPbindings.cpp
	src/TorqueLimitsRave.cpp
cmake and stringstream and openrave fixes for unstable branch
fixed discretization and sampling openrave torques
Merge branch 'rosen' into rosenunstable
add adhoc method of coputing discontinuity points
topp threshold fixes
Merge branch 'master' of https://github.com/quangounet/TOPP into rosen
Merge branch 'rosen' into rosenunstable

Conflicts:
	Makefile.in
	README.md
	configure
Merge branch 'unstable' of https://github.com/quangounet/TOPP into rosenunstable

Conflicts:
	src/FrictionLimits.cpp
	src/TOPPbindings.cpp
convert all assert to BOOST_ASSERT in order to capture exceptions rather than program terminating
add SerializeInputTrajectory python bindings
Merge branch 'unstable' of https://github.com/quangounet/TOPP into rosenunstable
Add test rosen
Merge branch 'unstable' into rosenunstable
new cat of disc sw
Correct the trajectory
add test rosen
Merge branch 'unstable' into rosenunstable
Merge branch 'rosenunstable' of https://github.com/quangounet/TOPP into rosenunstable
Merge branch 'master' into rosenunstable