What is the state of kinematics modules in EMCApplication? It looks like [significant effort](http://blog.machinekit.io/2015/02/loadable-trajectory-modules.html) was put into extracting the trajectory planner and kinematics modules from the motion module in MachineKit. How were these changes merged into EMCApplication (or were they backed out)? Specifically, I'd like to have a better understanding to be able to experiment with rebasing the [dgarr/s_kins](https://github.com/LinuxCNC/linuxcnc/tree/dgarr/s_kins) branch from LinuxCNC that allows switching kinematics modes from within a G code program.