Lightning Framework Fake Pull Request

I made this PR to myself so that Ioan/Mark can add comments inline if desired.
This is here actually because of a pending discussion with Ioan about how to do this
https://github.com/davetcoleman/ompl/commit/bb014c9e045223367ffd38d8f34495952a303252#diff-2b469443df4022778dc4055f80020d41L200