Added Boost Serializaation to all primitives

Because I want to send a Kinematics class or a Dynamicsclass over Network, I added serialization
to all primitives to convert these objects into byte stream.

Seems to work nicely. Added a test programm to check

Little Side effect : You now have to install Boost before you can use RDBL

Big Side Effet : Now, every time you add a member to one of the classes, please update
the serialize function  :)

One strange thing : I discovered that the booleans inside the additionnal_data structure ( Joint.h )
were not initialized ... this prevents them from being serialized. I added a default constructor
to the structure which does the job, but this has to be investigated further ...

S.D.
Merge branch 'master' of github.com:lengagne/MoGS_RBDL