Removed long range motion primitives and reduced cost of turn in place
more debug error output

and some new topics that help figure out wtf.
changed params to include everything that was previously relying on
defaults
new primitives from dr smooth.
Added more debug output and maybe fixed some epsilon threshold values
fixed bug in fabs
since sbpl quantizes angles, stop testing stitch points for angles.

this might be bad...
added else that should have already existed...
turn down controller frequency to slow down replanning madness.

the replan takes long enough that this shouldn't really hurt anything.
we were probably already going to hit it anyways...
more error level debugging.

it is broken, so it is an error, right?
set infinity to 1.8

this was calculated by brandon as a suitable value
Added flag wait for a stitched path before accepting new plans
Adjusted frequency of replan requests and look ahead replan times
Bump navigation to fix multiple replan requests being issued
back-to-back by move_base
Added useful debug prints, commented out for now
Fixed multiple bugs in the smooth planner

* Fixed pose and orientation comparisons to be within tolerances
  appropriate for a 0.1 grid spacing (hard-coded because time crunch!)
* Better edge case handling and more debug output
* Added hack to work around what appears like a numerical precision
  issue causing enormous delta times to be computed and assigned to
  poses in the path
Fixed bugs in motion primitive generation script

* Fixed divide by zero errors
* Fixed the half-grid-spaced primitives not having three poses
* Replace hooksmooth() with forward() calls to work around a
  discontinuity at the end point
Added timer to recover from getting stuck waiting forever sometimes

Apparently it's possible to never receive a stitched path message
for a published path in the smooth planner, which means it waits
forever.  This timer tells the smooth planner to stop waiting for
a stitched path if it takes too long, and then allows a new setPath
request to be processed
Space out the points a little for some motion primitives
Removed unused config params and added missing one to yaml file