Angular Momenta/Velocities and Torques in Two Frames

Changed ESPResSo to explicitly put out the angular momenta/velocities and torques in the laboratory (space-fixed) and body (co-rotating) frames explicitly. The original implementation with the torques was very confusing. Also put in input structures for both frames and documented the changes in the user's guide. N.B. the old toque and omega commands for the particles should still work as they did before, but will become deprecated eventually.