allow slerp'ing along long arc
removed env lock from readtrimeshuir
fix collada reader bug, fix ikfast bug
added ability to aggregate the colliding link information in a  CollisionReport. check out CO_AllLinkCollisions and CO_AllGeometryContacts
Merge commit '258ea6c' into production
minor geometry.h stuff
added setting viewer angle tracking
added extra padding for visibility transform, fix ray collision option in ode, add misc draw method
fix intrinsics serialization in camera data
MAJOR: fix sending collision reports to the collision callbacks
fix python binding warnings when testing if object is None
normalized quaternions in slerp
better counting of matrix complexity
add graspparametersdof for grasping extra params
fix memory leak in boost memory pool
fix MoveUnSyncJoints and RRT one-stepping, fix graserplanner ignoring collisions
fix graspermodule self collision problems, fix link enable bug in ode collision, add bindings to stringxmlreader, ikfast fixes
ikfast bug fix when guessing values
remove redundant check from MergeTrajectories
fix guessing variable condition