Slight improvements on parabolicsmoother2 and timebased checking

[snozawa]

Summary

• this contains slight improvements on parabolicsmoother2 and DynamicsCollisionConstarint::Check

Contents

1. Check dynamicsConstraintsType before checking the dynamic limits or torque limits. https://github.com/rdiankov/openrave/commit/99721524d8ebdf11b2d5ef0383b261941343f34f
2. The initial value of currentBestScore is set to 1.0. it looks too huge and most likely, we don't enter the score checking code path. i'm not sure it's intended behavior. but, if not intended, theoretically 0 should be the initial value. https://github.com/rdiankov/openrave/commit/4927dcdb9e54412c1e2c405804916a55637408d5
3. improve dump trajectory stuff for better debugging. mostly, share the single fileIndex so that we can track all of the logs from one PlanPath execution with the same fileIndex. it will be easier to search the relevant files. https://github.com/rdiankov/openrave/commit/958ecf544c02b6edb2a5f61e2f1c365ea36edb3d
4. others : improve the print messages.

[rdiankov]

thanks!