Time optimal trajectory

See merge request !17

add algorithm for calculating time-optimal trajectories with given velocity and acceleration constraints, which was developed by Humanoid Robotics Lab of Georgia Institiute of Technology

added a version of rpy2eigen4f returning the result
added a version of posrpy2eigen4f returning the result
added a version of getTranslation using output parameters
added a version of quat2eigen4f(Quaternion) using output parameters
added a version of quat2eigen4f(float,float,float) using output parameters
added a version of eigen4f2quat using output parameters

fix for static robot

See merge request !16

preshapes for shadow hand

improved inflating of models: each face influence is now weighted with the opening angle of the triangle-corner

multithreaded workspace creation v1

See merge request !15