Minor changes

- More descriptive comments useful when doing parallel plan
- Feature to allow color console output (stolen straight from MoveIt!)
It appears this works with [Mac](http://stackoverflow.com/questions/2353430/how-can-i-print-to-the-console-in-color-in-a-cross-platform-manner) just fine.

For [windows](http://www.cplusplus.com/forum/beginner/5830/) you have to use stuff like ``system("Color 1A");`` or:
```
#include <windows.h>

SetConsoleTextAttribute( GetStdHandle( STD_INPUT_HANDLE ), 0x5B );
```

But this PR will degrade gracefully in Windows so is still safe.