Dev-refactor-vectorized #225
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Refactor test_shoulderAxisCalc to 4x4 version
Refactor test_wristJointCenter to 4x4 version
Refactor test_findJointC to test_calc_joint_center
Refactor static pelvisJointCenter
Refactor static kneeJC
Refactor static uncorrect_footaxis
Remove unused static footJointCenter
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