Added copy function from MoveIt! robot_state joint values to ompl state
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
Merge branch 'hydro-devel' into context_sharing_allowed