Trep

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* Renamed src/ folder to trep/ following convention [33](https://github.com/MurpheyLab/trep/issues/33)
* Updated documentation theme to RTD template

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* Method added to get trep include path [31](https://github.com/MurpheyLab/trep/issues/31)

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* New public methods exposed in C-API version 3
* Linear damper added [22](https://github.com/MurpheyLab/trep/issues/22)
* PointToPoint constraint type added
* Named tuples added to DOptimizer returns [3](https://github.com/MurpheyLab/trep/issues/3)
* Bugfixes and updates to URDF parser

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* Fixed a major bug with fixed RZ frame transformations
* Allow URDF tool to be imported without ROS installed
* Added examples for upcoming CISM paper

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* Added ROS URDF import tool and documentation
* Fixed a caching bug with structure updates [19](https://github.com/MurpheyLab/trep/issues/19)

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* Fixed a number of small bugs - see github commits for details
* Modified setup.py to be compatible for release through pip
* First release using semantic versioning