Kinematic library development

[alx87grd]

Develop objects to implement quick manipulation of :

• Base
• Rotation matrix / quaternions / Euler angle
• Position vector
• Frame
• Transformation

add a layer of tools for quickly drawing robot animations.

• Lines object with attached frame and method to export in global frame.
• inlcude examples

updrage graphic output of existing exemples

• improve graphic output of Manipulators exemples