Added functions for following cartesian trajectories
Added functions for following cartesian trajectories

krishauser/Klampt,hpbader42/Klampt,krishauser/Klampt,krishauser/Klampt,hpbader42/Klampt,hpbader42/Klampt,hpbader42/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,krishauser/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,krishauser/Klampt,hpbader42/Klampt,krishauser/Klampt