Changed OMPL SimpleSetup member variable to shared pointer for dynamic loading
Renamed ompl_plugin.cpp to correct file name
Changed OMPL SimpleSetup member variable to shared pointer, passed MotionPlanningRequest to child function
Debug
Merge remote-tracking branch 'upstream/hydro-devel' into simple_setup_ptr
Added copy function from MoveIt! robot_state joint values to ompl state
fix for demo constraints database linking error
Merge pull request #47 from ros-planning/fix_demo_db_compile

fix for demo constraints database linking error
added functions to check validit of state, and also to act as callback for constraint sampler
setting GroupStateValidityCallbackFn member for constraint_sampler member and implementing callbacks for state validity checking
renamed newGoal to new_goal for keeping with formatting
Removed context ptr being unique requirement
Simplified number of solve() entry points in moveit_planners_ompl
Merge pull request #45 from davetcoleman/copy_moveit_joint_to_ompl

Added copy function from MoveIt! robot_state joint values to ompl state
Better debug output, always use lightning

Conflicts:

	ompl/ompl_interface/src/model_based_planning_context.cpp
Merge pull request #48 from arjungm/constraint_sampling_alt_ik_bugfix

Constraint sampling IK alternate bugfix
Merge branch 'hydro-devel' into context_sharing_allowed
Fixed uninitialized ptc_ pointer causing a crash.
Merge pull request #50 from ros-planning/ptc-fix

Fixed uninitialized ptc_ pointer causing a crash.
Merge pull request #49 from davetcoleman/simplified_ompl_interface

Simplified number of solve() entry points in moveit_planners_ompl