Updated cord frame enum
added  JLO code to optimization
added TransformToPose function

corrected multiplication of rotation matrices with correct yaw, pitch,
roll to refelct a right handed cordinate frame
added degToRad() and radToDeg()
misc change
Added absolute , relative and gripper frame control

Added control frame modes: Arm frame absolute, arm frame relative, and
gripper frame control
refactored autonomous motion function into two functions.
bool autonomousMove(Matrix start, Matrix dest) takes start and dest pose
in arm base frame
JointVel logging
added a new setting for angular velocity
allows to specify control frame on the command line

plus bunch of other stufff
added code to plot joint velocities