The orientation methods are working now.
	There are two orientations that we have stored, wrt
	global and wrt parent. The dcm method gives the dcm matrix
	much like it does in the mechanics module.
	# TODO : Gilbert and I had this discussion where we debated
	whether we shoudld go A -> global -> D or A -> B -> C -> D.
	It was decided that the latter was better. I have made a
	method that gives the path A, B, C, D. All that remains to
	be done is to integrate that path in the dcm method which
	is a relatively minor task.