Add test case to testIK to exercise orientation tracking. First generate orientation data from a known IK solution.
Add test case to testIK to exercise orientation tracking.
First generate orientation data from a known IK solution.

opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core