make sure IK timeouts are consistent
make sure IK timeouts are consistent
when projection from start state fails for IK samplers, try random states
bug fix
check if transform is the same
remove collision_distance_field (now in moveit_experimental)
moving some stuff to experimental
add ability to fill in planning scene messages by component
add support for attachment postures and implement MOVE operation for CollisionObject
rename getAttachPosture to getDetachPosture
0.3.19
fix package.xml
fix package.xml
Initial work on bug #35

Added the RobotTrajectory object to the methods that need to be
converted to test the new code against the results obtained from using
JointTrajectory.

Converted applyVelocityConstraints to use only data from the
RobotTrajectory object.

Made the JointTrajectory versions of computeTimeStamps private to ensure
that they are not used anywhere.
Migrated applyAccelerationConstraints to use RobotTrajectory.
Still working on issue #35.

When updating the "updateTrajectory" function to not use
trajectory_msgs::JointTrajectory I ended up in some code that seems old
and not longer in use.  I think that velocities and accelerations
calculated in this function are not used anywhere, that's why I created
a new updateTrajectory which just updates the time between waypoints
using the previously calculated time_diff vector.
More work on issue #35. Updating updateTrajectory.

Discarded the timestamps-only updateTrajectory and updated the original
one to update the time_from_previous waypoints in the RobotTrajectory
and the velocities and accelerations in every joint / waypoint.
Working on issue #35. No more JointTrajectory msg.

This commit should finish the transition from the previous
Joint Trajectory based timestamps calculations to making the calculations
in place in RobotTrajectory.

The new wrappers which take a JointTrajectory are still missing.
Removed some code duplication.

While working on issue #35, three functions generated the active_joints
string vector. Now it is only generated in updateTimestamps and passed
as reference to the functions that use it.
(1) add setRedundantJoints to joint_model_group (2) more overloaded methods for setfromik (3) fix tests