Merge pull request #60 from acornacorn/groovy-devel

add getStateTreeString() debugging function.  Prints jont tree with tran...
do not merge vertices
add class fwd macro
add console colors
adding api to lock redundant joints for ik
minor adjustment
add test dep
add utility function
add namespace option for planner plugins
0.3.17
bugfix: always update variable transform
allow non-const access to kinematic solver
0.3.18
Added sm comment
Merge remote-tracking branch 'upstream/groovy-devel' into groovy-devel
comments for dave + convenience function
add default parameter option in KinematicsBase, add a .cpp file for the base class
ignore INVALID_ROBOT_STATE results from IK solver (sued by ikfast plugins)
updating world_const_ when world_ changes
Merge branch 'groovy-devel' of github.com:ros-planning/moveit_core into groovy-devel