Add VECCAT function
Add specific types for geometric objects

* Quaternions, Dual Quaternions, etc.
Remove special case for 0 norm in quat. log and exp

* This is handled by the Taylor series approximation
Convert rotation vector derivatives to velocities
Remove redundant sqrt and square for Taylor series
Directly convert rotvec to quat derivative
Fix series in quaternion exponential derivative
Swap order and sign of cross product in vel2twist
Optimize dual quaternion transform
Better optimized dual quaternion transform
Better specialized quaternion multiplies
Implicit dual quaternion conjugate
Rename quaternion-vector multiplies
Optimize quaternion to matrix
Presquare for inverse sinc series
More lisp TFs
Add quaternion-translation lisp type
Make aa_tf_qrot extern "C"
Add more C++ geometry bindings
Maxima functions for quaternion multiplication matrix