changes for speed

Change-Id: Id27d2b4cb8b26098888e9a06aa3c7aa9c68372da
fixed bug in arcTo()

Change-Id: Ie3203113a88675398972910162383c74926057c8
iplotter changes for speed

Change-Id: I8a25117ef3e5f0adb2371a3fb0b55ab26c94eefb