Initial code for updating the planner on the current configuration
updatePaths method is added to ramp_planner
The updatePaths method will update all of the paths to have a new starting configuration. It accepts a ros::Duration argument that represents how much time has passed. The method will erase any knot points whose time_from_start duration is less than the duration passed to updatePaths. Basically, it gets rid of all knot points that have been passed.
Next, the code should use those updated paths to generate new trajectories.
Merge branch 'master' of https://github.com/sterlingm/ramp