Vector, doxygen bug fix for vector interpolate
Refactor makeSkewSymmetricMatrix into Math framework
RigidTransform, doxygen bug fix for makeRigidTransform
RigidTransform, add makeRigidTranslation

- Convenience function for creating translations
Fix bug in rigid bilateral 3d, use GP vector

- Use the vector from the center of mass to the position of intersection
rather than just the point of intersection
- Update unit test
- Refactor unit test to use more appropriate names
Fix bug in bilateral 3d unit test

- "Release mode" builds do not update unit tests, so the failure of the
previous commit was not noticed until testing on linux
- The RigidRepresentation's pose should be updated through
"setInitialPose" rather than "setPose"
- The local position should be in coordinates with respect to the center
of mass (local coordinates) rather than global coordinates.
RigidTransform, update documentation

- Replace references to "rigid-body" with just "rigid" transform.  These
transforms exist in their own right as a mathematical concept,
independent of physics.
Further updates to rigid bilateral 3d

- Fix bug in implementation.  Use "getCurrentPose" rather than
"getPose", as the former accesses the intermediate "current" state,
whereas the later accesses the "finalized" state which exists to be
copied to other threads.
- Expand on unit tests.  Use a generic pose rather than a translation-
only pose.