Compliant: tweaked cg formula a little

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9988 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added timing of dynamics solves

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9989 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added diagonal accessors in DiagonalResponse

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9990 b7f1a160-662a-0410-a6d8-bea165342f16