started adding composition and traversal options with more than 3 params. There is also an idea concerning single loop based traversal(uses the fact that a node may have only a single parent) which needs to be done
testing 4 param version of reverse traversal
now reverse also seems to work, the only problem is that the root element always overwrites its child, since the have the same qNr value. This is KDL::Tree problem which needs to be fixed