Added copy function from MoveIt! robot_state joint values to ompl state
fix for demo constraints database linking error
Merge pull request #47 from ros-planning/fix_demo_db_compile

fix for demo constraints database linking error
added functions to check validit of state, and also to act as callback for constraint sampler
setting GroupStateValidityCallbackFn member for constraint_sampler member and implementing callbacks for state validity checking
renamed newGoal to new_goal for keeping with formatting
Merge pull request #45 from davetcoleman/copy_moveit_joint_to_ompl

Added copy function from MoveIt! robot_state joint values to ompl state
Merge pull request #48 from arjungm/constraint_sampling_alt_ik_bugfix

Constraint sampling IK alternate bugfix
tweaked to specify opt objective
added basic cost function selection capability to the ompl interface for moveit