Added the calls necessary to manage path constraints. This commit

dependts on the changes commited to moveit_ros package to have access
to this functionalities.

If the pull request is accepted, this one should work fine also.
     https://github.com/ros-planning/moveit_ros/pull/438

Bassically now is possible to set the constraints as a moviet_msgs
Constraint message and retrieve an instance of the current path constraints
for a group.