Refactor Parabolic timer and add Parabolic smoother#206
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mkoval merged 43 commits intomasterfrom feature/ParabolicSmootherHelperMay 14, 2017
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Merge branch 'feature/ParabolicSmootherHelper' of https://github.com/personalrobotics/aikido into feature/ParabolicSmootherHelper
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