more rewriting of evil into hidden, sensible ugliness. next step is to make...

more rewriting of evil into hidden, sensible ugliness. next step is to make path following for base and end-effector from a pre-specified sensible path, like was done for just the end-effector. this decouples path-math from optimal control, and that is necessary to make sure that the optimal control formulation makes sense. otherwise i'm blindly patching stuff.