Matt ayman frames

Redo of the merge of Frame, RigidFrame, FixedFrame, Station and Marker ModelComponents along with code to convert Marker to new format for serialization/deserialization and inclusion of FrameSet in model.
@sherm1 @msdemers @aseth1 or @chrisdembia Please review and let us know your feedback.
Simbody's doxygen uses "monogram" notation like `X_PF` where the first symbol is always the type of quantity, the next one is the left-hand frame, and the final one is the right-hand frame. I know that can be made to work in code consistently for all symbols, but I'm not as sure about the "centered" notation here. In any case I would suggest using monogram notation consistently in both OpenSim and Simbody to avoid confusion.