Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
gate using velocity added