undo accidental deletion
add decompositions for omplapp 'apps' so that we can use SyclopRRT and SyclopEST; enable SyclopEST and SyclopRRT in GUI
change ompl_benchmark so that different optimization objectives can be specified and kinodynamic planners can be used for the 'apps' defined in omplapp

--HG--
rename : benchmark/GeometricBenchmark.cpp => benchmark/BenchmarkTypes.cpp
rename : benchmark/GeometricBenchmark.h => benchmark/BenchmarkTypes.h