Transformation table

[pmarke]

Added an index that can be used to list libraries and their types of transformations. I also fixed errors with Appendix B

[plusk01]

@pmarke -- the angular velocity of a rigid body w.r.t the inertial frame, as measured in the body frame is

\omega = (p, q, r)^\top

(not (\dot p, \dot q, \dot r))