Merge pull request #5 from gareth-cross/feature/swap_quaternion

Pulled quat class out
Added Pose conversion method, cleaned doc format a bit
Updated readme
Merge pull request #6 from gareth-cross/feature/add-conversions

Feature/add conversions
Added YAML convertor functions
Added emitter operator
Fixed flow
Merge branch 'master' of github.com:gareth-cross/kr_math
Added pose.inverse method
Added new rotation methods
Added macros to suppress YAML 0.5 features on hydro
Added fix for eigen
Merge branch 'fix/yaml-version'
Merge branch 'feature/extend-so3'
Added some methods
Started adding feature methods
Added refinePoint method
Buffed up docs on refine points
Corrected typo
Corrected vec3 to vec2