- Add new functionality of on-line trajectory generation and the associated control mode, without no regeneration of path
- Add abortMotionSmooth request
- Add max timeScale setting

 Changes since 2.3:
  - add collision detection by force monitoring
  - remove PlayFile request
  - adapt TrackQ to slow he trajectory when maximal velocities are
reached
  - fix timeScale evolution and adaptation
  - fix GotoXAbs to move the arm with a pose goal (the interpolation
is done in the joint space)
  - depends on softMotion-libs-3.6

  - the trajectory duration is not computed by mhp so we add computeTimeOnTraj() before execution

 - Add the ID of the arm (LWR_ARM_LEFT or LWR_ARM_RIGHT) in LWR_TRACK_STR
 - verify the axis number in the trajectory that comes from the poster

  - the control and the communication are done in a separated
    taskspawn thread
  - fix bug when collisionEnvMode is GEN_TRUE and poster is NULL
  - add request to save forces in a file

 - adapt to softMotion-libs-3.2
 - lwr can adapt on-line the motion law of the trajectory with respect
to the human distance cost (poster)

 Release 2.0
 - by default the lwr module is compiled without the kukaFri-libs
 - to use the kukaFri you need to set the kukaFri-libs option in robotpkg
 - lwr can control two kuka arms (named left and right) and one sahand connected to the right arm through the sahand poster.