Clean up unused programs
Adds the SerialCommunication to path
Adds SerialCommunication to path
Minor plotting changes for speed
Symbolic EOM calculations

Calculates EOM, Gradient, and Hessian symbolically
Adds symbolic support in Kinematics files
Symbolic support of rotations
Quaternion support (No Gimbal lock)

Ability to run calculations using quaternions instead of roll pitch yaw
as well as zero rotations
Adds Simulation for full Right arm IMU

Can now control IMU simulation for right arm with the use of two IMU
sensors
Optimization Gradients & Hessians

Calculated Gradients and Hessians for left and right arms. Increases
inverse kinematics optimization considerably.
Merge pull request #7 from gbledt/master

IMU System able to control simulated arms using quaternions and a fast inverse kinematics optimization