Inverse Dynamics FeedForward

The Inverse Dynamics Feed Forward update to Baxter's Joint Trajectory Action Server (JTAS) is meant to 

- Create smoother interpolated paths between trajectory points that are passed into the server by using Bezier curves. These curves keep the interpolated trajectory continuous in 3 dimensions (position, velocity, acceleration) for each joint
- Allow faster movements when using JTAS by feeding forward the trajectory's velocities and accelerations commands into the motor controller
- Maintain compatibility with trajectories that supply position-only trajectory points
This is not an immediate priority, but just so you know, currently our rosdoc config is setup to generate API doc pages using Epydoc (and therefore Epydoc syntax is docstrings).  This might be fine, I don't actually know, but you might want to check out how it looks at some point later on in the Documentation phase.