Preparing Demo

This is a the first attempt to make a demo for the toolbox. Now the
collision detection is done on obj files and laser scanner is also
simulated inside the matlab.
second try for demo

some improvements in speed and visualization. Saving PRM data in  online
mode is no longer performed. This was needed when we were copying
previous PRM data from previous run's folder to the folder for the
current run. This can take up to 50 seconds for small scenarios.
try demo 3