Matt ayman frames

Merge in branch from Hackathon to create new ModelComponents: Frame, BodyFrame, FixedFrame and Station. The functionality is tested in a separate test case testFrames and in testComponents but is not incorporated into any Models or computations yet. Please take a look at the headers and give us feedback if you plan to use this functionality. The plan is to use Frames to attach geometry, joints, wrapping etc. and to make Markers utilize Stations.
@sherm1 wait what?  Isn't this the wrong sense?  This is the exact opposite of the comments and convention I've seen in Simbody say. These transforms are left operators, correct? X_GA converts vectors expressed in A to vectors expressed in Ground.

Inside calcTransformToGround, I directly call simbody's method getBodyTransoform().  Its comment states. "Extract from the state cache the already-calculated spatial configuration 
X_GB of body B's body frame, measured with respect to the Ground frame and 
expressed in the Ground frame."  This is the measure of B's translation and orientation in Ground, which when used as a left transform operator should be transforming any right-multiplied vector "From" the B basis "To" the ground basis. like this.  

vec_in_Ground = Ground_X_B * vec_in_B

In Ground_X_B contains the position of B's origin in Ground, and a rotation matrix in which the columns 1,2,3 are the unit vectors of Bx,By,Bz.   

Unless I'm misunderstanding the comment, "To" ground is correct because the transfrom converts vectors from the B basis "To" the ground basis.  At least, this is how we always termed transforms in Scott, Paul, and Oussama's classes.