v1.0.0 - Trac-ik standalone lib

This release provides a standalone working version of the Trac-ik library.

Changelog:

• Removed ROS node instantiation.
• Removed ROS logging and replaced with std::cout for DEBUG and INFO, and std::cerr for WARN and FATAL.
• Removed loading of the URDF from ros_param.
• Included loading of URDF via constructo.
• Substituted boost::math::tools::epsilon<float>() with std::numeric_limits<float>::epsilon()
• Include the nlopt header file incorporating the C++ functionalities