added ver2 example which uses semantic operations to compute distances which are required to compute twists. In initial and compact versions, this is done manually by using matrix and vector multiplication.
But there is some minor error in semantics somewhere, the idea itself seems to work.  Also there was a bug in geometric semantics in getOrientation(...) operation of Pose. In was not returning full semantics
first commit of chain primitives with geometric semantics. Also removed some of the empty impl. files from kdle
renamed some of the files and extended some of the interfaces in chain with geometric semantics
replaced strings in pose specification with class types. Draft implementation of relative joint frame poses
implemented computation of relative joint poses and relative segment distal poses. IT relies on the constraint that joint origins are coincident. This is a change wrt to the previous commit/version, where relative joint pose was computed based on the constraint that there is a single reference frame (B.Base) with respect to which all computations are done
joint twists and segment tip with respect to reference joint frame seems to work, need more tests
refactored included headers. First draft of implementation of KinematicChain with functional composition library works.
Need to check for const-correctness of passed arguments.