completed removal of arun joint limit change due to perported performance degradation
removed commented abort() call
merged from libcd upstream (cdellin): added consts to cd_kin and cd_mat (commit:492)
merged from libcd upstream (cdellin): cleaned up some grid code (commit:493)
merged from libcd upstream (cdellin): added removefield stuff (commit:484)
merged from libcd upstream (cdellin): added support for floating base (commits:481,491), chomp now can handle an arbitrary number of tsr constraints on both links and manipulators (commit:487)
merged from libcd upstream (cdellin): timing now at velocity/accel limits (change limits on robot to change speed) (commit:489)
updated copyright statement, added floating base python wrapper, and reworked runchomp kwargs handling