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
Added support for the GT_None GeometryType.
Added a case for GT_None to ComputeAABB.
Merge pull request #306 from personalrobotics/geomtype-none

Added support for the GT_None GeometryType
Apply render scale properly.
Attempted to de-duplicate some rendering code.
qtcoin uses ReadTrimesh to load render meshes

QtCoin previously only tried to load render geometry (i.e. the mesh returned by
GetRenderFilename) with an internal loader. This loader does not support
several types of meshes (notably COLLADA and, in some cases, STL) that are
supported for collision geometry. Collision geometry is loaded through a
different pipeline, which calls ReadTrimesh.

I changed the logic in QtCoin to fall back on ReadTrimesh if loading the render
geometry fails. This replaces the previous fall-through logic which would
immediately fall back on displaying the collision mesh. This is very important
for visual-only geometry that does have collision geometry (e.g. using GT_None
or by specifying a trivial primitive).
Merge pull request #307 from personalrobotics/feature/qtcoin-render-fix

qtcoin uses ReadTrimesh to load render meshes
Per-manipulator ExtractIkParameterization

Added an overload to ExtractIkParameterization that can optionally filter by
robot and/or manipulator. These names are appended to the end of the group
name: "ikparam_values <iktype> [robot_name [manipulator_name]]".
Added GetIkConfigurationSpecification

This is a helper function on Robot::Manipulator that mirrors the functionality
of GetArmConfiguration. It constructs a ConfigurationSpecification that
includes an "ikparam_values" group (of a specified IkParameterizationType) for
the manipulator, referenced by robot and manipulator name.
Merge branch 'master' of github.com:personalrobotics/openrave
Merge branch 'feature/IkParameterization'