Rename and cleanup for exponential map and log map.
Relace math::ExpLinear() with Eigen::Translation3d() that has same functionality.
Remove ExpAngular(const Axis& s, double t) and add comment on expAngular(const Eigen::Vector3d& s).
Fix style.
Fix style.
Rename *SkelIndex() to *SkeletonIndex()
Rename *Body() to *BodyNode()
Rename VerifySE3() to verifyTransform()
Rename Verifyse3() to isNan()
Rename Transform() to transformInertia()
Rename variable and functions from *Transformation* to *Transform
Add RevoluteJoint::getOrigin().
Fix BodyNode::getExternalForceGlobal().
Add comment on BodyNode::setMomentOfInertia()
Remove temporary comments
- Change math::isNan(const Eigen::Vector6d&) to math::isNan(const Eigen::MatrixXd&). This change make the function more general.
- Fix use of this function in BodyNode.
Rename: use reference frame name as prefix
Rename getWorldAccelerationAtCOG to getWorldAccelerationAtCOM
Remove unused types in MathTypes.h
Remove unnecessary comment lines