removed unnecessary transform between 'base_to_world_' between the robot base frame and the world frame
initialized local 'previuos_id variable to nil id
renamed frame related string members and add extra arguments in the constructor for setting the ik solver parameters
removed local ik related members so that the values in the kinematics.yaml file are used
Merge pull request #33 from ros-industrial-consortium/moveit_adaptor_fixes

Moveit adaptor fixes
Merge branch 'hydro-devel' of https://github.com/ros-industrial-consortium/descartes into upstream_hydro_devel
Merging remote branch upstream/hydro-devel