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 Removes all outdated usage of getAnchorBody() and isAnchoredToBody() in testFrames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.
> I would advocate that we never write any compositions of rotations or transforms without a comment saying exactly what's going on and proving that the sense is correct.

Really good idea Sherm.  That policy definitely would have prevented this bug.  I'll update.