fixed name of package in launch file
Deleted rubbish planGenerator.cpp file
Created new TrajectoryLibrary class to generate and store library of pre-planned trajectories.
Added duration and num_wpts fields to ur5_motion_plan.
Added demo() method to TrajectoryLibrary.
Added optimizeTrajectory() method which culls unneccessary waypoints.
Added fileread and filewrite as a class. filewrite is called in build, fileread is called in demo
Made changes to naming convention for fileread
Added initWorld() and timeWarpTrajectory() methods. Minor cleanup
Restructured CMakeLists so that tlib is now library target,
and build_lib and demo are separate executable targets.
Deleted main.cpp
Added TrajectoryExecutionmManager member to TrajectoryLibrary class
added attached collision (can't test yet; doesnt crash though)
Merge branch 'dev' of https://github.com/mrkris13/apple-crusher into dev

Conflicts:
	src/trajectory_library.cpp
Added exportToFile() and importFromFile() methods.
Minor cleanup.
Renamed start and end indices in ur5_motion_plan struct.
Small change to fileread() to update _num_trajects and ur5_motion_plan struct.num_wpts
Defined plan_group and target_volume structs to replace Pick and Place definitions with more generalizable form
Major restructure.
Replaced pick and place definitions throughout with more generalized plan_group and target_group paradigm
Made demo() work solely off of _plan_groups, so it doesn't need to know anything about the target volumes
Fixed some launch file issues.
Cheated in build_lib.launch to get Moveit to find moveit_controller_interface parameter
Now working with Gazebo
Fixed namespace issue for moveit_controller_manager param in demo.launch