Actually set duration of first segment to computed safe interval
New path interpretation strategy, now more complete
Only resend if truly out of segments
Correct some comment typos
When in relative mode, interpret velocities as absolute

Makes more sense that relative to present velocity.
Correct safe interval calculation

Should never shorten interval
Finish log statement
Don't crash on zero length paths
If send firstSegment if now is exact
More logging when moving to next path segment
More sensible logging
Comments
Clean up initial segment dt code
Another place to check segment acceleration
more initial dt nonsense
Another approach to path initialization
Move checkSegment call to prevent skipping it
This should be delayed until we actually send this segment
Still need to move ahead on the path
Correct order of composition

Doesn't matter in our case since all rotations are about Z, but
it makes me feel better.