refactor endpoints per https://docs.google.com/a/conjur.net/document/d/17L3AdTl8YQ2HGGWqij9zIrChuVVOqf4_hgi51b1aApU/edit
use base url in resource path parsing
path_components function isn't needed, we just want the id entry of the path
some force uri-escaped IDs in some tests which are failing now
Merge pull request #23 from conjurinc/appliance-endpoint-refactor

refactor endpoints per https://docs.google.com/a/conjur.net/document/d/1...