apdated movearm to accept WMRA::Pose
deleted commented code
major bug fixes to motor controller + features

corrected encoder ratios
streamlined setMotorMode, added class variable to keep track of current
mode
added enum for motor modes
Linear segment will check for 0 distance segments and will not send to
controller
Linear segment will now throw as other functions
fixed bug in define position function(removed abs())
added enum COrdFrame to WMRATypes
cosmetic formatting
fixed bug in returning vector<Matrix> from Traj function

Matrices in the vector were initialized to 6*6 by default. This throws
an error when multiplying TF of 4*4
works now :) tested in positive x direction

LI mode takes delta changes
renamed variables for readability
changed DH parameters etc..