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I haveYou may as well play it safe and use site-absolute links beginning in / (slash) or in this case /foo/. Then the robot will have no excuse for misunderstanding. Some robots still will get it wrong-- I've seen them-- but this will be due purely to the robot's own gratuitous stupidity. Save the relative links for URLs that you know will always be in the same directory, even if the whole directory packs up and moves.
<base href="http://www.example.com/foo/">
and internal links like
<a href="baz/">