forwards visual servoing(be aware that you may need to go from 1/range to range if you want to test in the simulator)
Merge remote-tracking branch 'mxlan/vehicle_refactor_2014' into vehicle_refactor_2014

also fixed idiotic mistake involving infinity

Conflicts:
	packages/python/ram/ai/new/testing.py
minor pushes so we can test gate
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014