Added planning feedback to gui, refactored states tab

Added feedback under planning button to show planning time or failure message:
![screenshot from 2013-11-01 18 29 41](https://f.cloud.github.com/assets/561060/1458132/edc31782-4355-11e3-9eaf-100448fd079d.png)

Cleaned up layout of buttons on Stored States tab:
![screenshot from 2013-11-01 18 29 22](https://f.cloud.github.com/assets/561060/1458134/f716a70e-4355-11e3-9b88-458f7bf7346a.png)

Added hooks to pass the planning time of a MoveGroupActionResult message.