Various Cleanup and Commenting

[davetcoleman]

Lots of minor, non-behavior cleanup and commenting as I debugged an issue with the planning scene transforms. Changes are cleanly separated by commits and should be Rebased and Merged but not cherry-picked backwards.

• Cleanup PlanningScene
• Cleanup RobotModel
• Cleanup Transforms
• Cleanup various moveit_ros packages

[rhaschke]

Generally I approve this. However, I don't like the renaming of Transforms::transforms_ to Transforms::transforms_map_. That's too verbose for my taste.

[davetcoleman]

Generally I approve this. However, I don't like the renaming of Transforms::transforms_ to Transforms::transforms_map_. That's too verbose for my taste.

I'm really into verbose variables, as they improve quick understanding of the code. This is the MoveIt! style throughout the code. The ROS style guide says:

Be reasonably descriptive and try not to be cryptic. Longer variable names don't take up more space in memory, I promise.

Additionally, I found Transforms::transforms_ particularly confusing as it made me think the class contained itself as a member variable (they have the same name??)

[rhaschke]

Why didn't you rebased on master to resolve conflicts?

[davetcoleman]

I used Github's web-based conflict merging tool, which turned out a mess but it took significant time so I didn't want to start over.

I just started over locally and rebased properly. Now it should be Rebased and Merged as the commit history is clean