Added get Functions to easily access values from PlannersWidget
connected solve button

Because #13 and #14 are not finished, I hardcoded a call to setStart

Todo: solve function accesses gui values directly, instead of accessing applied values. BoundsWidget access last applied values. UI should be expected to function the same in each tab
Merge branch 'master' of github.com:mas-group/sdp_ws2013_ompl
Committing to my branch with little changes