New coordinate calculations for head penumbra filter

Corrects issues with coordinate system calculations for the head penumbra filter.    Head penumbra filter now works with multiple positional streams.   Filter initial cutoff frequency lowered to exaggerate the effect (will be tuned further over time).
Hey, your suggestion will certainly work ZappoMan, but I think there are some good logging designs we should investigate (probably offline or as the subject of another PR/worklist).  Logging cuts across all modules (e.g., its a system service like new/malloc), so I'd recommend that some care should go into the design - this will impact a lot of code - everywhere.    Even if we don't wind up with a general solution like I have in mind, can I ask for this to be deferred since we need to have an engineering-wide iscussion ?   thanks.