Test frames remove anchor body

This pull request fixes #220 . Deprecated use of "anchorBody" interfaces were causing compilation errors in the debug build.  Release builds compiled because these errors were contained in assert expression that were only compiled in debug builds. This PR specifically:

1. Removes all outdated usage of getAnchorBody() and isAnchoredToBody() in testFrames
2. Removes all usage of assert, using ASSERT instead throughout testFrames.
3. Fixes a transposition bug in FixedFrames transform calculations.
Can this condition and the above condition be simplified? (e.g., this one could be `!parentFixedFrame->isPathToBaseValid()`)