Move the math library pieces out of systemlib into mathlib

apps/examples/math_demo/math_demo.cpp

apps/mathlib/Makefile

apps/mathlib/math/Dcm.cpp

apps/mathlib/math/Dcm.hpp

apps/mathlib/math/EulerAngles.cpp

apps/mathlib/math/EulerAngles.hpp

apps/mathlib/math/Matrix.cpp

apps/mathlib/math/Matrix.hpp

apps/mathlib/math/Quaternion.cpp

apps/mathlib/math/Quaternion.hpp

apps/mathlib/math/Vector.cpp

apps/mathlib/math/Vector.hpp

apps/mathlib/math/Vector3.cpp

apps/mathlib/math/Vector3.hpp

apps/mathlib/math/arm/Matrix.cpp

apps/mathlib/math/arm/Matrix.hpp

apps/mathlib/math/arm/Vector.cpp

apps/mathlib/math/arm/Vector.hpp

apps/mathlib/math/generic/Matrix.cpp

apps/mathlib/math/generic/Matrix.hpp