project com and first path working... need to work on discontinuities in path projection

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

script/scenarios/demos/siggraph_asia/twister/bezier_traj.py

...t/scenarios/demos/siggraph_asia/twister/twister_spidey.py

src/hpp/corbaserver/rbprm/rbprmfullbody.py

src/hpp/corbaserver/rbprm/rbprmstate.py

src/hpp/corbaserver/rbprm/state_alg.py

src/rbprmbuilder.impl.cc

src/rbprmbuilder.impl.hh