Merge pull request #3 from rhaschke/master

Clean-up and CMake improvements
removed all references to ublas
fixed PythonPotential, PythonSensorTransform, PrimitiveControllerResource
Merge branch 'master' of git://github.com/norro/CBF
fixed Eigen2 compatibility: Matrix(unsigned int, unsigned int) was not declared in Eigen2
fixed include order