added some coordinate functions to overload operations with itaOrientation

kernel/ClassStuff/@itaCoordinates/mrdivide.m

+function returnCoords = mrdivide(position,orientation)
+
+
+if ~isa(orientation,'itaOrientation')
+    error('Only multiplication with itaOrientation object is supported')
+end
+
+if orientation.nPoints > 1
+   if orientation.nPoints ~= position.nPoints
+       error('Number of points and orientations does not fit.');
+   end
+end
+
+if strcmp(orientation.coordSystem,'openGLrh')
+  position.cart = ita_matlab2openGL(position.cart);  
+end
+
+if orientation.nPoints > 1
+    for index = 1:position.nPoints
+        tmp(index,:) = (orientation.n(index).quat.inverse.RotationMatrix*position.n(index).cart.').';
+    end
+else
+    tmp = (orientation.quat.inverse.RotationMatrix*position.cart.').';
+end
+
+returnCoords = position;
+if strcmp(orientation.coordSystem,'openGLrh')
+    returnCoords.cart = ita_openGL2Matlab(tmp);
+else
+    returnCoords.cart = tmp;
+end
\ No newline at end of file

kernel/ClassStuff/@itaCoordinates/mtimes.m

+function [ returnCoords ] = mtimes(position,b)
+%TIMES Summary of this function goes here
+%   Detailed explanation goes here
+
+if ~isa(b,'itaOrientation')
+    error('Only multiplication with itaOrientation object is supported')
+end
+
+if b.nPoints > 1
+   if b.nPoints ~= position.nPoints
+       error('Number of points and orientations does not fit.');
+   end
+end
+
+if strcmp(b.coordSystem,'openGLrh')
+  position.cart = ita_matlab2openGL(position.cart);  
+end
+
+if b.nPoints > 1
+    for index = 1:position.nPoints
+        tmp(index,:) = (b.n(index).quat.RotationMatrix*position.n(index).cart.').';
+    end
+else
+    tmp = (b.quat.RotationMatrix*position.cart.').';
+end
+
+returnCoords = position;
+if strcmp(b.coordSystem,'openGLrh')
+    returnCoords.cart = ita_openGL2Matlab(tmp);
+else
+    returnCoords.cart = tmp;
+end
+
+end
+

kernel/ClassStuff/@itaCoordinates/uminus.m

+function result = uminus(a)
+
+% <ITA-Toolbox>
+% This file is part of the ITA-Toolbox. Some rights reserved. 
+% You can find the license for this m-file in the license.txt file in the ITA-Toolbox folder. 
+% </ITA-Toolbox>
+
+
+result = a;
+result.cart = -a.cart;
+end