TetraSpineStatic branch merge

This pull request merges in all of the work I did for the ICRA 2015 Tetraspine paper. Namely a number of new classes in my dev directory that mimic In Won's Tetraspine hardware, including the ability to learn sine waves directly (as opposed to CPGs). Extensive cleanup is needed before we can move these to examples or similar, and I'd like to get some integration tests in place before I do that. This is a good snapshot with some minor cleanup.

This also solves issue #15