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[bugfix] Fix difference order and correctly transform to tangent coords

Youett, Jonathan requested to merge bugfix/fix_rigidbodymotion_difference into master

While the translation part in the difference method computes 'a-b', the rotation part computes 'b-a' (which you get when calling Rotation::difference(a,b)) Furthermore, the Rotation::difference method returs a skewsymmetric matrix, which has to be transformed to yield a tangentvector in the tangent space of 'a'

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