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.
> getGroundTransform() should be calcTransformToOtherFrame(). Not a fan of this name. 

Paul Mitiguy and I wrestled with these names a long time ago for Simbody's `MobilizedBody` objects which have to deal with the same issues. I wouldn't claim these are optimal names by any means, but they have stood the test of time fairly well and there might be an advantage to using similar names for similar functions in both Simbody and OpenSim. Two examples are [MobilizedBody::getBodyTransform()](https://simtk.org/api_docs/simbody/api_docs33/Simbody/html/classSimTK_1_1MobilizedBody.html#a877368286148b4efbdb2d5e7f6904ac4) (returns X_GB) and [MobilizedBody::findBodyTransformInAnotherBody()](https://simtk.org/api_docs/simbody/api_docs33/Simbody/html/classSimTK_1_1MobilizedBody.html#a38e9d5ec372c7502412e39ec6043302a) (return X_AB). Some of the doxygen might be worth snatching also.

(Simbody uses the "find" prefix to mean "calc, but very cheap"; probably doesn't make sense to make that distinction in OpenSim unless it is already in use -- "calc" would be fine.)