Merge branch 'develop' into feature/WalkEngine
Merge branch 'develop' into feature/WalkEngine
Creates a more formal kinematics toolchain structure templated with robot models.
Changed the input convention for calculateLegJoints.
Began implementation of forward kinematics.
Added files for real this time.
Implemented forward kinematics. Added kinematics tests.
Added config files and role.
Merge branch 'feature/Kinematics' into feature/WalkEngine

Conflicts:
	modules/debug/InverseKinematics/src/InverseKinematics.cpp
	roles/walktest.role
	shared/utility/motion/InverseKinematics.cpp
Robot is walking!