basic class based interface

c++/CMakeLists.txt

c++/include/gpm.hpp

c++/include/loadKinematicModel.hpp

c++/include/pointer_example.hpp

c++/include/yumi.hpp

c++/src/gpm.cpp

c++/src/loadKinematicModel.cpp

c++/src/main.cpp

c++/src/pointer_example.cpp

c++/src/py2gpmbind.cpp

c++/src/yumi.cpp