fix ikfast bug, increase safety margin for valid trajectory (possibly not good)
better assert
Add ComputeIk2 to ikfast.h in order to pass in openrave manipulator pointer
set attached sensor name
fix rrt dump, add GetTransform6DPose binding
fix bug with lower_bound and adding unique switch points
fix major switch time bug
fix parabolic ramp bugs
fix parabolic smoother trimming bug
fix lapack linking bug
renamed to InterpolateQuatSlerp, add InterpolateQuatSquad
fix SetDOFVelocities limit checking (thanks to Stéphane Caron)
many fixes for ikfast
IKatan2WithCheck fix types
many ikfast fixes with degenerate cases
removed ipython stmt from ikfast
fix ikfast_generator imaginary numbers bug, fix more degenerate case handling in ikfast
forgot ikfast evalNumbers return
forgot ikfast customcse return
forgot ikfast evalNumbers returns