intial Qt stuff. contains incomplete outline for how the interface with interact with the forward kinematics module
set up robot links to their initial positions
added pointers to keep track of added lines which represent the robots links
changed sliders to pushbuttons, added angle/position display labels.
added functions for painting and updating link locations
removed connect functions for slots (they are auto-connected)
Merge branch 'Cory' into Ben
left main.cpp out of merge

Conflicts:
	main.cpp
updated merge to buildable state (renamed f_kin_solver_3dof, added L0)
completed update functions. builds, doesnt work.
fixed DH parameter initialization
added range checking to link 1
added slider for link 1
added bounds checking (between 0 and 360) for links 1 and 2
added sliders for links 1 and 2
added robot arm base
centered QGraphicsView around the drawing area
changed QGraphicsView scale
Deleted extraneous main.cpp.old file
Merge remote-tracking branch 'origin/Ben'

Conflicts:
	main.cpp

merging branch into Master to bring up to date