- re-factroing gait engine to allow for the computation of a center of gravity oscillating signal based on the gait.
- adding a vmath library to do basic vector 2d and 3d calculations in a less messy manner.
- adding computations for the COG computation based on the pongas 2007 paper "A robust quadruped walking gait for traversing rough terrain". This should allow geometrically stable ripple gait.
- The previous capacity is so far maintained after a rather hefty re-implementation of some parts.  The new RIPPLE_GEO gait does currently walk but does not differ much from the RIPPLE_SMOOTH gait it is based on.  Yet to do testing and verification that the COG code actually does anything useful and is being applied correctly.
- adding Wire.h in skecth so the freybot lib that includes vmath.h actually compiles as the i2c modules live there as well and wire lib does not get included if not in the sketch :P  This is a feature of the Arduino IDE.