transforms tool pose to group base frame before querying for solutions
returns nominal joint pose in the 'getPoses(...)' method
replaced comparison operator for assignment operator and added some extra logging
this commit contains Purser's fixes
removed unnecessary transform between 'base_to_world_' between the robot base frame and the world frame
initialized local 'previuos_id variable to nil id
renamed frame related string members and add extra arguments in the constructor for setting the ik solver parameters
removed local ik related members so that the values in the kinematics.yaml file are used
Merge pull request #33 from ros-industrial-consortium/moveit_adaptor_fixes

Moveit adaptor fixes