Added MotionPrimitive struct to manipulation components. Also, some minor updates to CC and KM.
First commit of sbpl_kdl_kinematic_model - child class of SBPLKinematicModel
Renamed KinematicModel and all related things to RobotModel
The sbpl_arm_planner compiles now but definitly doesn't work yet.
Added in new ActionSet to GetSuccs.
Still need to clean up SBPLArmPlannerParams.