Added Saliency Detector in GateDetector since we're not using GateDetector anymore
Saliency detector is based on shapes and not on color
stuff
Merge remote-tracking branch 'rajath/vehicle_refactor_2014' into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Added event support for new torpedo detector and config file for it, also a few other assorted things as well
ai stuff, config for torps, bunch of stuff for sonar manip
minor mods for full torp task
Added ChrisOrangePipe and newstuff to whitebalance. GateDetector is testbed for contour matching. Bindetector now includes saliency and additional to try and see things on the bottom
Added ChrisPipeDetector
Chris pipe detector has been hacked to only return one pipe. And the yml file for transdec pipe is up
Chris pipe detector hack for one pipe
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014, and various other additions on the robot, yml files and course changed.

Conflicts:
	buildfiles/cmake/modules/FindOpenCV.cmake
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
	packages/python/ram/ai/new/utilClasses.py
Preliminary implementation of top level state machine configuration.