Added initWorld() and timeWarpTrajectory() methods. Minor cleanup
Restructured CMakeLists so that tlib is now library target,
and build_lib and demo are separate executable targets.
Deleted main.cpp
Added TrajectoryExecutionmManager member to TrajectoryLibrary class
Merge branch 'dev' of https://github.com/mrkris13/apple-crusher into dev

Conflicts:
	src/trajectory_library.cpp