Added ControllerAPI convenience class for parsing sensor messages and building command messages
Cleaned up outputting / inputting
cleaned up API and added more informative error messages
More error checking in DynamicPath
Convenience functions in DynamicPath
Moved AnyCollection casting to cpp file
Loading and saving objectives to JSON format
Moved RealTimePlanning thread functionality to Planning/RealTimePlanner, separated planning and time allocation architecture
Exposing structure / JSON conversions
Python collide module now uses native KrisLibrary AnyGeometrys
Capability to attach primitive geometries to robot links
Capability to attach primitive geometries to robot links
Switched to ControllerAPI