Merge pull request #6 from fairlight1337/master

Mainly changes to high-level plans, including WITH-POLICY macro, also smaller fixes.
ARM_NAVIGATION_MSGS -> SHAPE_MSGS in CRAM_MANIPULATION_KNOWLEDGE
fixed the deprecated warning in LOCATION-COSTMAP

i guess some functionality from CRAM_ROSLISP_COMMON is in ROSLISP_UTILITIES now.
finishing up the port from ARM_NAV_MSGS to MOVEIT_MSGS and SHAPE_MSGS in SEMANTIC_MAP_COLL_ENV.
got rid of deprecated functions warning from CRAM_ROSLISP_COMMON in SEM_MAP_COLL_ENV
moved one function in SEM_MAP_COLL_ENV because of circular dependencies.

The function COLLISION-ENVIRONMENT-NAMES was using a variable defined after its own definition.
empty cram package for plan transformations.

turned cram_highlevel into even a bigger monster but so long this is where the package fits in the best.
rough problem statement
finished up Jan's porting away from ARM_NAV in LOCATION_COSTMAP
Merge pull request #7 from fairlight1337/master

Refining and documenting policy usage
Merge branch 'master' of https://github.com/fairlight1337/cram_highlevel
Merge pull request #8 from fairlight1337/master

Added example for policy usage

It works :)
Merge branch 'master' of https://github.com/cram-code/cram_highlevel
plan transformations: step 0.5
minor
Merge pull request #9 from fairlight1337/master

Moved the whole WITH-POLICY code from CRAM_PLAN_LIBRARY to CRAM_LANGUAGE
plan transforms: fix in lisp package def oh silly me + minor
plan transforms: better plists instead of alists
plan transforms: step 1: generating goal descriptions
minor styling