Documentation

[alaurenzi]

Let's keep the code documented (higher priority to header files, but implementations should contain short notes as well

• robot_viz.h header
• robot_viz.cpp implementation
• state_wrapper.h header
• state_wrapper.cpp implementation
• validity_predicate_aggregate.h header
• validity_predicate_aggregate.cpp implementation
• stability_detection.h header
• stability_detection.cpp implementation
• cartesio_ompl_planner.h header
• cartesio_ompl_planner.cpp implementation
• trajectory_interpolation.cpp header
• trajectory_interpolation.cpp implementation
• trajectory_interpolation.cpp header
• trajectory_interpolation.cpp implementation
• cartesian_constraint.h header
• cartesian_constraint.cpp implementation
• goal_sampler.h header
• goal_sampler.cpp implementation
• planner_executor.cpp implementation