Remove dart::math::Rotate(). Use Eigen::Isometry3d::linear() instead of it.
Remove unused lines in Geometry.h/cpp
Add some defines to MathTypes.h
Remove xformHom and xformHomDir functions that take Eigen::Isometry3d since they reimplement Eigen functionality. Calls to xformHom(W, v) should be replaced by W * v. Calls to xformHomDir(W, v) should be replaced by W.linear() * v.