many changes to edge_{velocity,acceleration,jerk}

[pingplug]

fix #89 for different types of holonomic robot

changes:

1. use normalized velocity/acceleration/jerk (remove max_vel_x_backwards support)
2. add option omni_type for different holonomic types
3. move computeError() from include/teb_local_planner/g2o_types/ to src/g2o_types
4. add exact_arc_length support to holonomic robots
5. add jerk edges for jerk control, add {weight_,}_jerk_lim_{x,y,theta} options
6. tweak default {weight_,}_{acc,jerk}_lim_{x,y,theta} value

This PR was (partly) used in Jingdong Robotics Challenge 2018

[pingplug]

I'm adding too much stuff on these hpp files, and most part of them are the same

when get acceleration, we have to calculate velocity twice (and another three times if we want jerk optimization)

there is something not right

[pingplug]

so far this code is work, but not good...

[pingplug]

another question: should we use normalized velocity/acceleration?

[pingplug]

yet another question: why use non holonomic constraint but not abs(vy) to limit vy? I found it is actually calculating hypot(vx,vy) in EdgeVelocity. When weight_kinematics_nh is low, this is totally wrong.

[gycyr]

Hello, thank you for your excellent work. I would like to know if this change can be used for non-holonomic robots.

[ingjae]

This hasn't been discussed for quite some time, but I'm curious as to why the jerk isn't being applied to Tebs.