Position and velocity frames for RBMs

Adds the ability to have nested multi-coordinate frames, and sets up the state frame of a rigid body manipulator to be composed of the state frames of all of the robots inside that manipulator, with each robot state frame made up of a position frame and velocity frame.
you're right.  that's better.  will update.
On Aug 25, 2014, at 6:12 AM, Andres Valenzuela <notifications@github.com> wrote:

> In systems/frames/MultiCoordinateFrame.m:
> 
> > @@ -233,6 +225,15 @@ function display(obj)
> >        end
> >      end
> >      
> > +    function id = findSubFrameEquivalentModuloTransforms(obj,fr)
> > +      for id=1:length(obj.frame)
> > +        if isequal_modulo_transforms(obj.frame{id},fr)
> > +          return;
> This will only return the id of the first sub-frame that matches. Would it be better to return a logical array, in case the caller is wants to know that multiple sub-frames match?
> 
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