Changed OMPL SimpleSetup member variable to shared pointer, passed MotionPlanningRequest to child function

Conflicts:
	ompl/ompl_interface/src/model_based_planning_context.cpp
Changed OMPL SimpleSetup member variable to shared pointer, passed MotionPlanningRequest to child function

Conflicts:
	ompl/ompl_interface/src/model_based_planning_context.cpp
Merge pull request #53 from davetcoleman/indigo-simple-setup-ptr

Changed OMPL SimpleSetup member variable to shared pointer