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.
How about something like:

A Frame is an OpenSim abstraction for a right-handed orthogonal reference frame/coordinate system.
Frames are intended to provide convenient reference frames for describing anatomical structures as well as provide a convenient basis for performing spatial calculations. The Frame itself provides its transform in ground (e.g. its orientation and location in the world).