(RatsMatrix,AutoBalancer,GaitGenerator) : Remove local copied function. Remove translate, difference_position, and rotate_vector.
(RatsMatrix, Stabilizer) : Remove outer_product_matrix and matrix_exponent, use calcRodrigues, and comment out unused function
(ImpedanceController,RatsMatrix) : Remove rotation_matrix and use Eigen toRotationMatrix
Merge pull request #370 from snozawa/remove_local_codes_1

Remove local codes