Added cartesian robot for testing
Implemented and tested getCartPoses method for cartesian points
Refined tests for cartesian point (some test commented out)
Added functionality/tests for gettting multiple joint solutions at multiple cartesian poses
Merge branch 'hydro-devel' of https://github.com/ros-industrial-consortium/descartes into simple_sampling_implementation
Added frame to toleranced frame constructor.  Refactored tolerance frame layout
Added test for point with zero tolerance - results in bad allocation exception due to negative vector size
Refactored cartesian point sampling to be more robust under conrner conditions
Merge pull request #35 from shaun-edwards/simple_sampling_implementation

Simple sampling implementation for cartesian points.