fix chomp OptimizeTrajectory to actually return the optimized trajectory (not the original)

Author: cdellin

src/prpy/planning/chomp.py

@@ -207,9 +207,8 @@ def OptimizeTrajectory(self, robot, traj, lambda_=100.0, n_iter=50,
             traj.Insert(i, waypoint, True)
 
         try:
-            run = self.module.create(robot=robot, starttraj=traj, lambda_=lambda_)
-            self.module.iterate(n_iter=n_iter, run=run)
-            self.module.destroy(run=run)
+            traj = self.module.runchomp(robot=robot, starttraj=traj,
+                lambda_=lambda_, n_iter=n_iter, **kw_args)
         except Exception as e:
             raise PlanningError(str(e))