Removed duplicate calculation of e_k.
Merge branch 'coursera-sp14' of github.com:jdelacroix/simiam into coursera-week-5
Reverted to previous obstacle setup, added FollowWall controller, and updated supervisor to execute new controller.
Added solutions to test against the tests from Week 6.
Skeleton code is up with appropriate START/END CODE BLOCK comments.
Removed some unneeded comments.
Merge branch 'coursera-sp14' of github.com:jdelacroix/simiam into coursera-week-6