some renaming in gridline draw algorithm
reorganizing utils a bit
bit of renaming
added a bunch of 2d vector util functions
more consistent arguments for vector ratation function
added vector addition function
better implementations of pose
renamed lin_alg_2d_util to linalg2_util
added several linalg methods for rotatin and translating vectors and sets of vectors
changed import grammar
putting new linalg functions for rotating/translating to use