small optimization for planning models forward kinematics: calling computeTransform() with the same argument twice in a row does not redo computation; projection definition for ompl was moved in base/ ; projections are better organized in kinematic_lanning added a projection for the end effector position
small optimization for planning models forward kinematics: calling computeTransform() with the same argument twice in a row does not redo computation; projection definition for ompl was moved in base/ ; projections are better organized in kinematic_lanning added a projection for the end effector position

git-svn-id: 6d6a06bd1c95e2e6277cba10264727c517c71483@11348 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

ros-visualization/rviz,ros-visualization/rviz,ros-visualization/rviz,ros-visualization/rviz,ros-visualization/rviz