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

Simply undo the simplification of sum of sin/cos products.
add GetPublishedBodies python binding
fix writing external references to already externally referenced bodies
can call GetIkParameterization with IKP_Transform6DVelocity
fix physics engine crash when cloning
Merge commit '19a7be0' into production
fix closest angle fn
Merge commit '228b2ad' into production
forgot to save iksolver in statesaver
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
Merge pull request #309 from personalrobotics/feature/IdealControllerLogging

Added flag to toggle logging in IdealController
Merge branch 'master' of https://github.com/rdiankov/openrave