add in LTL parser, based on work by Rüdiger and Cat
make createJTLVinput.writeLTLfile work well with LTLParser
be sure to parenthesize subconjunts when flattening LTLformula lists in createJTLVinput
move stateToLTL from mopsy into FSA
executor can report current goal number
clean up resynthesis code, move to separate file that can be used as a mixin for executor
make executor print full tracebacks even when running as xmlrpc-server
have ltlparser properly handle one-line specs
use basestring instead of str in flattenltlformula
add conditionals to handle decomposition-disabled case.  this needs to be cleaned up and generalized
try calling stop() on motionController first, before directly asking driveHandler for (0,0) vel
generate spec filler properly for empty specs
if necessary, properly switch back to decomposed regions before executing after resynthesis
one more special conditional to deal with decompose-disabled spec compiling...