Added the geometry module.

CMakeLists.txt

python/test_unit.py

python/tgeometry.py

src/angle-axis.cpp

src/angle-axis.hpp

src/eigenpy.hpp

src/exception.cpp

src/exception.hpp

src/geometry.hpp

src/map.hpp

src/quaternion.cpp

src/quaternion.hpp

src/simple.cpp

src/simple.hpp

unittest/geometry.cpp

unittest/matrix.cpp

unittest/timer.h