Improve hand closing movements: close all finger elements until joint limits reached or collision detected

improve error message for "only revolute joints supported" in bullet robots (now the node name is printed)

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