Separated trajectory pt into base class and cart/joint derived classes
Added framework of required functionality to TrajectoryPt classes
Initialize frames for Joint/CartTrajectoryPt
Combined into single library. Moved fixed poses out of TrajectoryPt base class.
Cleanup and consistency of terms and definitions.
Merge pull request #6 from dpsolomon/issue#3_trajpt_base_class

Issue#3 trajpt base class
Initial addition of boost graph structures and creation.
Converted logs to wrapped log stream. Corrected formatting. Converted vector of cartesian trajectory points to boost pointer of base trajectory points. Moved trajectory linking vector to internal property.
Merge pull request #7 from ros-industrial-consortium/trajectory_planning_graph

Initial addition of boost graph structures and creation.