DH Chain Base Offset #71
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schornakj
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This PR removes the
FIXEDDH transform type in favor of specifying a fixed base offset transform from the desired base frame to the first DH link.This PR also adds a DH chain representation of a two-axis positioner for testing of the kinematic calibration algorithms (see image below). It utilizes the fixed base offset to avoid specifying a fixed DH transform in the chain.