Merge pull request #1 from sid24ss/master

Abstracted the planner
added a non-working base heuristic, also added fa change

base heuristic doesn't do anything right now, but both heuristics need to be
placed into some heuristic container.
Merge branch 'master' of https://github.com/vhwanger/monolithic_pr2_planner

Conflicts:
	monolithic_pr2_planner_node/include/monolithic_pr2_planner_node/EnvInterfaces.h
separated path post processing to its own class
moved postprocessing into its own class
Merge branch 'master' of https://github.com/vhwanger/monolithic_pr2_planner