[wip/ompl] Upgrade to 0.14.1

Changes since 0.12.2:
---------------------

OMPL.app 0.14.1 (January 23, 2014)

Update PlannerData to use new cost infrastructure.
Bug fixes.

OMPL 0.14.0 (December 20, 2013)

    - Added new cost infrastructure to plan optimal paths with respect to
    arbitrary cost functions. Several common cost objective functions have been
    defined (such as path length and mechanical work) and new ones can easily be
    defined.
    - RRT*, PRM*, TRRT, and PRM have been updated to use this cost
    infrastructure.
    - BallTreeRRT* has been removed since it assumed that the path cost is equal
    to the path length.
    - Added two new planners:
	- Lower Bound Tree RRT (LBTRRT), a near asymptotically-optimal
	incremental sampling-based motion planning algorithm.
	- Search Tree with Resolution Independent Density Estimation (STRIDE), an
	EST-like planner that uses an extension of the GNAT nearest neighbor data
	structure that supports sampling states inversely proportional to the density
	of previously sampled states.
    - Added support for MORSE. Through a plugin you can use OMPL with Blender
                        ^^^^^
    and MORSE to plan kinodynamic paths. See the gallery for some examples.
    -  Added functionality to the Benchmark class to keep track of
    user-specified properties at regular intervals. This is especially useful for
    asymptotically/approximately optimal or anytime planners.
    - Added more demo programs.
    - Updated gccxml snapshot. If you use gcc 4.8 and the OMPL Python bindings,
    you need to run "make installpyplusplus" again.
    - Bug fixes.

OMPL 0.13.0 (August 5, 2013)

    - Added several new planners:
	- SPARS and SPARS2 are roadmap-based planners that operate similarly to
	Visibility-based PRM, but provide asymptotic near-optimality guarantees.
	- Path-Directed Subdivision Tree (PDST). There are actually two
	versions: one for geometric planning and one for control-based planning.
	- Lazy PRM, a variant that lazily evaluates the validity of nodes and
	edges in a roadmap.
    - Various improvements and bug fixes in the RRTstar and BallTreeRRTstar planners.
    - Various optimizations in the Syclop planner.
    - The Syclop planner can now operate over triangular decompositions. This
    is enabled if the triangle package is installed.
    - Significantly reworked and extended unit tests for planning algorithms.
    - Added method to extract a ompl::base::StateStorage object from ompl::base::PlannerData.
    - State spaces can indicate whether they are metric.
    - Certain path shortcutting techniques are disabled for non-metric state
    spaces during path simplification.
    - Extended ProblemDefinition API to support path optimizing planners.
    - Added printAsMatrix method to ompl::geometric::PathGeometric and
    ompl::control::PathControl to facilitate plotting of paths. Added a tutorial on
    path visualization.
    - Added more demo programs.
    - Use the officially released version of OdeInt that comes with Boost 1.53
    for numerical integration. The bundled version of OdeInt is not used or
    installed if the user has Boost >= 1.53 installed.
    - Updated Py++ toolchain (gccxml, pygccxml, pyplusplus). If you use gcc
    4.7/4.8 or Boost 1.54, you need to run "make installpyplusplus" again.
    - Bug fixes.