Add children 0 and 4 to printTransform

While merging branches 'add_children' and 'test_bcalc'
(commit 077e9614b8aa81d5677f27195dc4535a2e9a42d1), the printTransforms
method had not the children added. This commit adds them.
Merge pull request #13 from sbarthelemy/fix_printTransforms

Add children 0 and 4 to printTransform
Fix bcalc.

  * bcalc method did not update body transforms.
  * Remove call to jcalc in test_bcalc that caused the test to succed.
  * Define bcalc method for each joint type. Its role is similar to
    jcalc except it updates only the body transform from the
    configuration and is thus faster.
Define setter in Motion class.
Define scalar multiplication operator for Transform class.
Define vector transformation opertors.
Specialize spatial transform multiplication operator.

  * Optimizes the operator for the case where left operand 3d rotation
    matrix is identity.
Fix jcalc method in JOINT_REVOLUTE_AXIS_ANY
Define spatial transform by motion subspace multiplication operator in
all joint macros.

  * This method takes advantage of each joint's prior knowledge of
    motion subspace matrix to optimize computations.
Implement point articular jacobian algorithm.

  * jac_point algorithm computes the 6xNBDOF jacobian of a point
    attached to a body given a robot and body as template arguments.
  * Define NBBODIES for the robot model.
  * jac_point_robot algorithm computes the 6.NBBODIESxNBDOF jacobian
    that is the concatenation of all body jacobians. This is an
    unoptimal implementation that is solely used to test jac_point on
    all robot bodies.
  * Add test and reference files.
Include correct header for simple_humanoid in benchmark.
Fix documentation.
Implement point in chain articular jacobian algorithm.

  * jac_point_chain algorithm compute the articular jacobian J of a
    point (in body coordinates) attached to a body in a specific
    sub-chain of the robot kinematic tree.
  * This is the equivalent of the jacobian computation algorithm in
    jrl-dynamics.
  * jac_point_chain_robot computes the overall robot jacobian by
    cycling through all possible sub-chains.
  * Add test and reference files. jac_point_chain_robot adds however a
    serious compilation overhead.
Remove jacobian_point (with bcalc) from benchmark.

  * jacobian_point (without bcalc) is kept.
Update documentation.
Fix documentation.
add bcalc to benchmark
Merge pull request #16 from sbarthelemy/add_bcalc_benchmark

add bcalc to benchmark
crba: use fixed-size block
Merge pull request #17 from sbarthelemy/fix_crba_block

crba: use fixed-size block