make ubuntu 12.04 happy
Chatted with Mrinal about this. He pointed me to a paper by Michael
Mistry that appears to explain why the type of projection method
employed by Baerlocher may not work in this case.

So, going to read this thing first:
http://www-clmc.usc.edu/publications/M/mistry-IROS2007.pdf

See more papers at:
http://www-clmc.usc.edu/Main/MichaelMistry
Reorganize before making it flexible wrt the task prioritisation scheme.
rename files to reflect better project layout