changing member in KinematicPath, at Ben's request. also split kinematic model into two files (one for maintaining state)
changing member in KinematicPath, at Ben's request. also split kinematic model into two files (one for maintaining state)

git-svn-id: 6d6a06bd1c95e2e6277cba10264727c517c71483@17313 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

ros-visualization/rviz,ros-visualization/rviz,ros-visualization/rviz,ros-visualization/rviz,ros-visualization/rviz