Lightning Framework Fake Pull Request

I made this PR to myself so that Ioan/Mark can add comments inline if desired.
I'm actually not convinced that is true. The ``path`` is a ``PathGeometricPtr`` that I create by appending states from a PlannerData instance that is saved in the ExperienceDB. I do this:

> // Convert chosen PlanningData experience to an actual path
        og::PathGeometricPtr primaryPath(new og::PathGeometric(si_));
        // Add start
        primaryPath->append(startState);
        // Add old states
        for (int i = chosenPath->numVertices() - 1 ; i >= 0 ; --i)
        {
            primaryPath->append(chosenPath->getVertex(i).getState());
        }
        // Add goal
        primaryPath->append(goalState);

If I unload these states, it will be corrupting the ExperienceDB, which has all of the states loaded to memory.  Do you think that's true?