Cleaned up package.xml
Merge pull request #24 from davetcoleman/hydro-devel

Cleaned up package.xml
Adding install targets for plugin xml files
Merge pull request #25 from jhu-lcsr-forks/hydro-devel

Adding install targets for plugin xml files
Fixing reversed error computation...
Merge pull request #26 from jhu-lcsr-forks/hydro-devel

Fixing reversed error computation...
Layout skeleton if JointTrajectoryController.
Layout skeleton of JointTrajectoryController.
Merge branch 'fuerte_backport' into joint_trajectory_controller
Add basic trajectory interface and utilities.

- Implementation of single-dof quintic spline segment.

- Multi-dof segment templated on the single-dof segment type.

- General(ish) representation of trajectories, templated on segment type.
Merge branch 'joint_trajectory_controller' of https://github.com/pal-robotics/ros_controllers into joint_trajectory_controller

Conflicts:
	joint_trajectory_controller/CMakeLists.txt
	joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h
	joint_trajectory_controller/manifest.xml
Fixed PID destructor bug, cleaned up code
Removed controller_msgs
Initialize segments with start and end times.

Before the segment duration was provided and zero start time was assumed.
Now initializing and sampling segments have a more consistent API:
- You initialize a segment from start and end time-state pairs.
- You sample a segment with a time[in] and a state[out].
Add doc configuration file.
Add unit tests for segment sampling classes.
First trajectory interface functions with tests.

- Find the segment associated to a specified time instant.
- Sample a trajectory at a specified time instant.
Doc fixes.
Remove dead code.
Test trajectories with overlapping segments.

Excercise the case when a segment's end_time is greater than the next segment's
start_time.