Merge pull request #13 from jon-weisz/online_reachability

Online reachability
Merge pull request #22 from jon-weisz/unified_view

Unified view
Merge branch 'online_reachability' of github.com:CURG/graspit_bci
added setEmissiveColor to the robot and body classses
changed CGDB_MODEL_ROOT to be machine agnostic
Merge branch 'unified_view'
added functionality to graspitServer to setBodyEmissiveColor and setRobotEmissiveColor
Merge pull request #33 from jvarley/master

added setEmissiveColor to robot and body
switched setEmmisiveColor type signature because old version required a type conversion that not all compilers consider valid
 modified hand state streaming output function to allow it to be used to represent the hand state in the absence of a target object. This means it represents a pose/posture pair, not a grasp because there is no explicit target object
added grasp analysis to graspitServer
added implementation for annotating grasps with external tests
made handview always stay on top
Fixed what I think is a major bug in how grasps are saved so that they can be saved with respect to the actual object transform and we don't have to always plan around the origin anymore
added interface to graspitServer to control robot and body colors
added output of approach direction analysis request to graspitServer