postMultiply(matrix, vector)
homogeneousTransformMatrix(frame)
transformToNewFrame(point, frame)

Waypoints work with the ied_search_project/ied_field.launch
with the second robot uncommented.

GeometryMap.mineWorldMapFactory() to GeometryMap.iedWorldMapFactory()

Also corrected a misplaced wall in GeometryMap.circleWorldMapFactory()

Also added static method to GeometryMap to generate circle world map

Also added a static method to GeometryMap class to generate a map
corresponding to the CS4313 arena world that is being used in the labs.