made the arc calculations only run based on -a flag and added a differential command mode with -d - still doesnt work well with the differential mode
made the arc calculations only run based on -a flag and added a differential command mode with -d - still doesnt work well with the differential mode

git-svn-id: 767549f2a3626ae39d79f5348867a3ebb5082aca@2977 c7283977-0100-402a-a91a-fa70b306dbfe

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro