Made changes to convert trajectory_evaluation package use of Eigen
library to ROS' tf package
Changes made to source code to convert to tf package. Some general
clean up of the code was done as well.
Remove the include directory of /usr/share/eigen from the CMakeLists,
removed the #include Eigen call in utility.h
Merge branch 'convert_eigen_tf'

Conflicts:
	trajectory_evaluation/src/collision_detection.cpp