Fixed termination condition for the planner

Evan reported that the planner was occasionally returning invalid
trajectories if it timed out. I switched the termination condition to
explicitly check whether a solution exists instead of relying on the
return value of solve().
Call setup() on SpaceInformation in the simplifier

This was causing the simplifier to use an incorrect (and very low)
resolution for collision checks. In many cases, this meant that the
resulting trajectory would be in collision.
Updated readme.
Fixed a few typos.
Only check collisions with active DOFs.
Added some missing dependencies.
Merge branch 'master' of github.com:personalrobotics/or_ompl
Switched to openrave_catkin.
Only return if an exact solution is available.

Otherwise planners may return an invalid trajectory when a timeout
occurs.
Script for generating the book manipulation video.
Fixed typos in README.
Dang Koval, you make a lot of typos.
Use headers to determine support planners.
Merge branch 'master' of github.com:personalrobotics/or_ompl
Bumped verison number.
Added TinyXML dependency.
Removed unused semantic_version import.
Added licensing information.
Updated the README.
Fixing README header formatting.