Angular speed and direction

[JimHokanson]

In the locomotion velocity sections, there is a a direction feature.

Internally this is referenced as angular speed.

The angular speed however seems to be an angular velocity that is not being properly scaled by the number of frames over which the calculation is occurring. This is something I noticed when originally writing the updated Matlab code and then I suspected at the time was an error.

This issue actually is comprised of two parts:

1. Clear up the the "direction" feature, is it direction, angular speed, or angular velocity?
2. Once we are clear as to what it should be, fix the likely bug (if it really is a bug).