Refactoring shape methods

Several shape methods have been reimplemented
New shape methods have been implemented: createArrow, createSphere to comfort the other shape creating methods
getShapePose and setShapePose have been implemented

Shapes are added to the scene using: viz.show<i>Shape</i>
Shapes are further transformed using Affine3f data structure via setShapePose method.

Test file has been modified to show the effect of these methods