Add a capsule primitive

[neckutrek]

A capsule primitive would be able to nicely wrap around robot links and used in obstacle avoidance.

1. Add a capsule primtive class
2. Extend the geometric primitive map with the capsule primtive
3. Extend the geometric primitive visitors
4. Extend GeomProj task definition with capsule/capsule and capsule/sphere projections
5. Test in simulation
6. Merge the changes into devel