Added ability to alter configs in a cache
Small tweaks poking holes in classes
Added ability for parameter sweeping by allowing parameters to be changed in planning contexts
Added new cost function that takes into account robot joint movements
Merged upstream changes
Fixed after merge
Merge remote-tracking branch 'upstream/groovy-devel' into groovy-devel
Cleanup
Removed formatting changes
Cleaned up code
Fixes per Ioan
Merge pull request #15 from davetcoleman/groovy-devel

Added ability to change planner configurations in the interface