ikfast.py: make compatible with trigsimp() of sympy>=0.7.3 (see #290)

Simply undo the simplification of sum of sin/cos products.
add SetLocalToolDirection
auto-converting ikparam types
fixed loading ikfast from C++ bug, added new grsap parameter: graspikparam_nocol, added several ikfast options to prioritize best method
trajectory sampling defaults interpolation to next
added grasp model parameters, ikfast translationdirection5d special case when 3 axes are aligned, add state saver option for manip transform/direction
fix state saver option, added saving of iksolver, add check when resetting iksolver, fix ikfastmodule ikname uniqueness
ikfast forgot to convert to rational
ikfast fix when simplifying reduced equations, added more complexity bounds
return stored kinematics from iksolver
fix grasping database transforms
ikfast change for simplifying equations, add GetId() to environment
fixed ikfast bug that was passing around empty solutions
collada writer saves scene name as base filename
faster canceling for path smoothers
fix cache loading bug
collada writer scene name
ikfast modoule loads solvers faster
Merge pull request #302 from ompugao/master

add .travis.yml
doc strings for interpolation