Added functions to create and access homogeneous transforms via rotation matrix and translation vector.
Following clojure naming conventions for functions related to rotations.
Added utility functions to transpose vectors.
Slight change of API for transforms: Now translation vectors and axis vector are expected as row-vectors, for simplicity's sake.
Added forward kinematics solver with tests.
Reordering utils-file to avoid compiler error when loading entire file.
Split fk solvers into smaller functions. Altered test cases accordingly.
Removed wrapper function for fk solver. Functionality will be taken over by logic programming in subsequent milestones.
Further simplified forward kinematics solvers for revolute and prismatic joints. Semantics will be left for subsequent milestones.
Removed trivial fk solvers for fixed joints.
Added auxiliary functionality to create and dissect instantaneous twists.
Added creation of skew matrices.
Added pluecker coordinate transform creation, including tests.
Added convenience function of further arity to create pluecker transforms.
Added solvers to obtain instantaneous twists for prismatic and revolute joints.