preliminary regulus drawing stuff
succesful drawing of standard regulus
slightly refactor drawRegulus function
add variable parameters to regulus
slight regulus refinements
fix regulus interpretation
add some eigen code regarding transformation matrix
fix versor to trans. matrix conversion
add eigenvector extraction on the null basis
convert matrices to use unit basis
use correct inner product in transformation matrix construction
incremental progress towards axis parameter in usable form
implement variable regulus axis
update clarity of versor to matrix conversion
fix metric matrix in test function
add utility function for creating l3ga object from vector
finally fix regulus transformation matrix

also some miscellaneous cleanups (remove debug prints, more utility functions,
etc)
miscellaneous cleanup
further refinements to the whole regulus pipeline
some debug prints