Add some input

I basically went through your code as I fancied trying some python.

First thing I did is try to make it one class per file (its a pet pevee of mine albeit I did it my self in the stubing). I though most of the code is too tightly bound into nxt. As I dont have a robot that caused me problems So, I basically stubbed it out, so that I didnt have to care.

Things I feel a bit iffy about are around the way I modify the path. basically you have to run python test/forward_test.py. I might come up with a better solution. 

One of the interesting things of note is in commit 52df4f5. you were pushing a function into an array. 

Anyway, see what you think, make comments, and if you like it, then accept it as a gift.

If you dont like then let me know.

Chris