Wumpus

Copperbox revision 644.

I've added a function inFrame* to the Frame module that translates coordinate frames. It works correctly according to the examples I derived it from (the implementation is simple providing you have a matrix inverse function), but I'm still rather mystified by Frames and what operations they should support.


* As soon as I'd committed the revision I realized inFrame is a bad name as it sounds like a predicate.