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Create initial PcalModel class

Evan Goetz requested to merge evan-goetz/pydarm:jeffrey-kissel/pydarm-create-pcal-class-jsk into master

Building upon what @jeffrey-kissel had already written, I've added the dewhitening function and fixed the build errors. This is so far a barebones class that will need additional methods added, but it's enough to get started.

Addresses #29 (closed)

Edited by Evan Goetz

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