added min distance to joint limits metric
Merge pull request #57 from acornacorn/groovy-devel

simplification
Merge branch 'groovy-devel' of github.com:ros-planning/moveit_core into groovy-devel
minor adjustment
moving get min distance to bounds to joint state group
Merge branch 'groovy-devel' of github.com:ros-planning/moveit_core into groovy-devel
minor change in argument name
fix numerical issue in checking the norm of quaternions
add getStateTreeString() debugging function.  Prints jont tree with transforms.