Add str and repr overload

Add `__str__` and `__repr__` overload to `TransformationMatrix` class.
Add computation of Screw transformation matrix

Add computation of transformation matrix in Screw form in
`TransformationMatrix` class.
Add cooresponding unittest code.
Include `TransformationMatrix` instance in `GeoParams`

Include an instance of `TransformationMatrix` class in `GeoParams`
class. This keeps track of the transformation matrix for each frame wrt
its antecedent.
Add str and repr overload for `GeoParams` class

Add `__str__()` and `__repr__()` overload for `GeoParams` class.
Add str and repr overload to `DynParams` class
Add str and repr overload to `FloatingRobot` class
Fix ImportError

Fix `ImportError` in `pysymoro/tests/run_all_tests.py` caused by wrong
file search path for the test files.
Add enum module

Add enum module in `symoroutils/enum.py`.
For details on the module refer https://pypi.python.org/pypi/enum34
Add properties to `FloatingRobot` class
DGM term change
Start Matlab function output module
Merge branch 'floating' into geom_revamp
Matlab function generator