adapt all test configs to latest changes
proof of concept for attaching on the fly
Draft kinematic control (there's a bug right at convergence) and
generic (v,omega) nonholonomic drive module (which should turn into an
adaptor for more mechanically realistic models at some point).  At
this stage, it makes sense to reconsider how fpplib can get extended
for parsing new types of reflectable parameters, it is too onerous
right now.
whitespace
actually, it is not such a big deal... but it would be nice to have parser-agnostic ways of specifying e.g. sfl::Goal converters.
added support for singletons to be configurable.
Simulator is now a singleton
added error message capabilities to parameter parsing, cleaned some cruft