Code reorganization

[Samir Menon]

Clean up robot/

1. As of now it's a loose collection of helper functions to minimize code duplication for apps
2. There's a lot of controller init in CRobotApp and also in util/DatabaseUtils
3. CRobot is basically a huge wrapper function with a bunch of get/set nonsense
4. CRobotApp basically provides : command line parsing + glue for ui integration + shell

Clean up util/

1. A bunch of stuff here should move to parser/ or Init
2. The naming scheme should be nicer.
3. Namespaces should be nested instead of having underscores

Clean up scl_ext

1. Think about whether namespaces should be nested? For now we'll leave them as is since the ext should really not be considered a component of scl
2. The spatial dynamics module really should be refactored and moved to mainline

Remove up scl/dynamics/tao

1. Enough said

[Samir Menon]

Moved DatabseUtils init stuff to init as of: 8dc43fbe3614d0d54a12f1b5c553cdfd4564260b

[Samir Menon]

scl/util/ is pretty clean as of a6edf27381c92aff548de9e96ffc79620f9de5a4

[Samir Menon]

Issue #229 is also related to robot/ cleanup (but it's a nice easy patch so we'll keep it separate).

[Samir Menon]

The shell has moved to a separate dir : 56ec5aea60d5c4a84e2b584bfc923a5b8c336246

[Samir Menon]

Numerous fixes to scl_ext & more cleanup for robot/ in 718e15564e4a70062c670a2a18b89e9f9f1ad5c9

[Samir Menon]

1. robot/ is clean-ish. Any more and we'll have to dissolve it; that should be left for a different day since the example application is still pretty useful. Perhaps revisit this when we have rock solid ui -- redis integration.

2. util/ is clean-ish. Other stuff can be fixed on the fly and deserves to be considered in separate issues.

3. We'll keep the scl_ext namespace for now. It's logically different and should not be a subscope in scl. The dynamics module deserves a separate bug.

4. Tao is dead. RIP.