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.
@aseth1 we already discussed this.  This PR is about adding Frames only.  Updates to marker, IK, scale, Joint, etc. so that they take advantage of Frames is a separate task.  Marker's interface used set/getBodyName so that's how it remains.  If you look higher in this file's change log, you see that these methods weren't added.  They were just converted from virtual to concrete.  you'll have to ask @aymanhab about why, but probably because marker now derives from station.