Implement transform interpolation and averaging using proper Lie Group Algebra

[gdevenyi]

• [x] transform interpolator
• [x] transform averager
• [x] implement in bash
• [x] update documentation and dependencies

[gdevenyi]

Fixes #13 #14 #7

[gdevenyi]

Averaging code is ready for use, affine scaling needs a larger scale test, currently prepping for on Niagara.