Added README.md

README.md

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+# pyKDL
+A simple python binding to KDL using SWIG, using numpy arrays.
+
+## Features
+An extensive list of features implemented at this time are explained in the following code.
+
+```
+f = Frame()
+f0 = Frame(R,v)
+print f
+
+v = Vector()
+v0 = Vector()
+print v
+
+R = Rotation()
+R0 = Rotation()
+print R
+
+v1 = v + v0
+v2 = v - v1
+v3 = v1 * v2
+v4 = Vector()
+v4.assign(v)
+
+v4 = R * v
+R1 = R * R0
+R2 = Rotation()
+R2.assign(R)
+
+f1 = Frame()
+f1.assign(f0)
+v5 = f * v
+f2 = f * f0
+f_p = f.p()     # reference to position vector in Frame
+f_o = f.M()
+print f
+f_p.assign(Vector(1,2,3))
+print f         # frame changed
+```