Added a smoothing filter as a planning request adapter plugin
removed call to anonomous function used only for debugging
Made most changes suggested by reviewer. Good Review, I was sloppy in many places.
Minor changes requested by reviewer
removed anonymous namespace code used only for testing
Added a try/catch to running filer, but it does not need to exit
removed try/catch/throw that had no point.
Merge pull request #77 from drchrislewis/issue_76

Issue 76