Kinematics
--kinematics_tester.cpp and (dogKinematics.cpp + dogKinematics.h) do the same thing, feel free to use either for now.
Both sets of programs need to have the eigen-3.4.0 directory at the same level.
--Linking and Compiling cpp file with header file
Compile with: g++ -I eigen-3.4.0 -c dogKinematics.cpp <main-cpp-file-with-.cpp-extension>
Link with: g++ dogKinematics.o <main-cpp-file-with-.o-extension> -o <executable-file-name>
Adding more for testing