optimized pathpostprocessor
adding in random start goal generator, along with many fixes
Merge branch 'master' of github.com:vhwanger/monolithic_pr2_planner

Conflicts:
	monolithic_pr2_planner/src/Heuristics/BFS2DHeuristic.cpp
	monolithic_pr2_planner/src/PathPostProcessor.cpp
	monolithic_pr2_planner_node/include/monolithic_pr2_planner_node/EnvInterfaces.h
added ompl
fixed pathpostprocess bug
Commit before merge with victor's master
Merge branch 'master' of github.com:vhwanger/monolithic_pr2_planner

Conflicts:
	monolithic_pr2_planner/src/PathPostProcessor.cpp
	monolithic_pr2_planner_node/src/EnvInterfaces.cpp
added more simulation stuff
Commit before merge with Victor::master
Merge branch 'master' of github.com:vhwanger/monolithic_pr2_planner

Conflicts:
	monolithic_pr2_planner/src/ExperimentFramework/randomStartGoalGenerator.cpp
	monolithic_pr2_planner_node/include/monolithic_pr2_planner_node/EnvInterfaces.h
	monolithic_pr2_planner_node/src/EnvInterfaces.cpp
Left arm tucked in in randomStates