Added defaultPlanner function

Corrected planner check box labels, added defaultPlanner function
Connected all planner checkbox state changes to defaultPlanner

If no planner has been selected, set to default (RRT)
Added QGroupBox ControlBox

Contains all settings for planner control
timeLimit, Propagation, Min Max Duration

Contains function to values and reset to defaults
TODO: connect setDefaults to SolveWidget Reset Button
Added setDefaults function

- renamed defaultPlanner to ensurePlanner for clairity
- modified ensurePlanner, bug still exists when double checking a box
- added (default) to RRT label

TODO: connect setDefaults to SolveWidget reset button
Added OptionBox 

Box to group Planner options together

TODO: connect setDefaults to Reset button in solve widget
TODO: discuss restructuring package to put boxes into subpackages.
Removed all links to ompl library

Removed classes which were being used as placeholders from ompl_app
which was added in 297f34f36e241e66a324a94ce47d7350fd8d1261 for dev

Replaced with new ControlBox and OptionBox QGroupBoxes.
Added resetButton

Renamed Clear to Clean Plan

TODO: Clear clears MLPViewer but should also clear plan
TODO: Plot should be setEnabled(False) if no plan exists
TODO: Connect ResetSettings to setDefaults in all tabs