Merge pull request #1 from mrich7/master

Force-Torque and Accelerometer Analysis
Functioning version of convert_tf_to_pose developed - CL (other stuff also modified)
Create dr.py

dimension reduction and saving utilizing SOM, LLE, PCA, and Isomap
Update k-nn.py
Update k-nn.py
Update dr.py
Create trans.py

This file acts as a service to transform given data into a form the k-NN algorithm can handle.
working head registration and ik_move code
Create anomaly_node.py
working master and traj nodes
Merge pull request #2 from mrich7/master

Force and Acceleration magnitude anomaly monitors
Update accel_alert.py
Update force_alert.py
Update force_alert.py
Update accel_alert.py
working robot state control code
Merge branch 'master' of https://github.com/gt-ros-pkg/hrl-summer-2014
Create audio_alert.py
Delete force_alert.py
Delete accel_alert.py