misc doc updates, update to bootstrap 3

--HG--
rename : doc/header.html => doc/header.html.in
small doc fixes
.hgignore update
added fix to handle un-set problem definition
Moved useful features from Lightning to SimpleSetup
doc fixes
Small debug output changes
Changes from Ioan review
Merge pull request #23 from davetcoleman/minor_changes2

Small debug output changes
doc fixes, update .gitignore
don't include two pointers to spaceinformation in SteeredControlSampler
update py++ toolchain
doc fix: emphasize that MORSE extension requires python3
add LazyPRM*
FMT Sample attemps logic removed
FMT Sample attemps logic removed
fix bug in CompoundStateSpace::getMeasure, thanks to Jonathan Gammell for catching this
partial fix for LazyPRM (still broken)
Merge pull request #26 from jvgomez/fixFMT

maxSampleAttemps_ logic removed.
Merge pull request #27 from arjungm/MoveIt_RRTStar_segfault_fix

Check whether problem definition is set before completing the setup() call