Implement VirtualRobot::FramedPose
remove LinkedCoordinate, instead add VirtualRobot::FramedPose FramedPose represents either a local coordinate system attached to a Frame or a global pose (empty FramePtr) convenient methods like getPose (considers current frame pose, etc) check where poses are used in simox, and if a replacement makes sense do not remove getGlobalPose methods since they are heavily used, instead add getFramedPose methods