Refactored code such that object identifier are only referred to in upper case

To keep naming consistent between transformed lisp symbols into string (upper case) and strings given by the user (possibly lower case), every object is referred to by it's upper case name now. Also, code nicification.
Added designator integration support to the UIMA perception process module
Added flag for ignoring collisions completely when planning motions

Ignoring collisions is sadly not just done by setting a flag when talking to MoveIt!, but rather consists of setting up a matrix of all possible links that may collide when planning (that is, all links when ignoreing collisions, resulting in an n x n size matrix).
Refactored the UIMA perception process module to allow switching comm modes

Now two communication modes are available when using the process module:

:service allows to use a normal ROS service to call perception
:topic allows to use the more complex trigger/result method (for perception nodes that can not support ROS services for structural reasons)

The default is :service and is set to the dummy "/naive_perception" service topic. Both methods are used by calling the "get-uima-result (designator)" function.
Merge branch 'master' of github.com:cram-code/cram_bridge