Collision free and no windup

[mlautman]

This applies some improvements identified while working on a hardware demo.

1. It adds collision checking in the setFromIK calls to avoid self collisions when determining goal states
2. Adds seed state midpoints to the limit windup functionality. This allows the user to preference IK solutoins near a desired configuration rather than the zero configuration
3. Implements trajectory velocity and acceleration scaling when re-timing trajectories.