Added references to paper, made Eq (2) be multi-line so that it can render.  Got rid of paper.log being tracked since it will merge poorly.
Added .gitignore for *.log.  Reformatted paper for one sentence per line.  Some minor typo corrections.  Added equation for f and implicit surface (that might be the wrong definition, check that).  Added first description for workspace instead of just a voxel grid (the real world isnt just a voxel grid, and thats what were modeling when grasping).
Not dead anymore!  Added expected center of mass calculation.  Some more refactoring and typo fixing.  Done for the night, didnt read past distribution on center of mass so far.
Merge pull request #2 from zobot/master

Some refactorings and typo fixes and changed wording in a few places and added expected center of mass.