Moved Extras.cpp and .h code to BVHFormat.

Is code was poluting the global namespace with some global variables and
causing the KDL library compile errors.
IKSolver now works with bones that are not in the origin.

In SkeletonController the final position is transformed to the appropiate
coordinate system. Added some code to try and add an segment that does this
to get a simpler code, still a wip.