Position and velocity frames for RBMs

Adds the ability to have nested multi-coordinate frames, and sets up the state frame of a rigid body manipulator to be composed of the state frames of all of the robots inside that manipulator, with each robot state frame made up of a position frame and velocity frame.
i think this is correct.

the picture is
      %   q_d --->[ pdff ]-->(+)----->[ sys ]----------> yout
      %                     | -                 |
      %                     -------[ pdfb ]<---- 
      %                       


On Aug 25, 2014, at 6:18 AM, Andres Valenzuela <notifications@github.com> wrote:

> In systems/plants/TimeSteppingRigidBodyManipulator.m:
> 
> > -        pdfb = setInputFrame(pdfb,pdfb_input_frame);
> > -        pdfb = setOutputFrame(pdfb,sys.getInputFrame());
> > -        pdff = setOutputFrame(pdff,sys.getInputFrame());
> > -        if nargout>1
> > -          varargout{1} = pdff;
> > -          varargout{2} = pdfb;
> > -        else
> > -          % note: design the PD controller with the (non time-stepping
> > -          % manipulator), but build the closed loop system with the
> > -          % time-stepping manipulator:
> > -          varargout{1} = cascade(pdff,feedback(sys,pdfb));
> > -        end
> > +      [pdff,pdfb] = pdcontrol(sys.manip,Kp,Kd,index);
> > +      pdfb = setInputFrame(pdfb,sys.manip.getStateFrame());
> > +      pdfb = setOutputFrame(pdfb,sys.getInputFrame());
> > +      pdff = setOutputFrame(pdff,sys.getInputFrame());
> Should the output frame of pdff be the same as the input frame of pdfb?
> 
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