apparently this is not supposed to be here anymore.
upgrade to c++0x so I can use tuple and functional!

be afraid, be very afraid.
grr, changed tabs to spaces and added fake turn in place.

this changes like the whole file. good luck with the merge!
added special case handling code for the turn in place stuff.

also changed tabs to spaces. merging this will be not fun.
the turn in place code is pretty much directly copied from russel's
spin.py script, including variable names and style, which makes for
a bit of an akward bit of C++. hopefully this works because debugging
won't be fun!!
return 0 curvature if you're not going anywhere.
this looks more like an error...
Fixed paths that curve left/right

They previously under or over shot the target yaw
Fixed floating-point precision error, for loop, and forward motion primitive