Synchronize.
Replace the workaround by the cmake submodule update.
cmake: better default options
Compile only one small model.
Split benchmark models in separate files to ease performance analysis.

TODO: Generate benchmark files automatically.
Remove variadic warnings on gcc.
When building a model making sure that rotation matrices are rotation matrices.

In the previous version, the rotation matrices was initialized using a random
3x3 matrix. This commit make sure that the random matrix belong to SO(3).
Fix initialization of basic structures.

Because some of the data structures were not initialized to zero,
the value was too small and generated denormalization raising the
computational cost.
This commit fixes this issue.
Fix joint_F initialization issue.
This commit allows a proper initialization  of the robot models.
Revert "Fix initialization of basic structures."

This reverts commit 7f70ab586c94c6917a64ec14f6c54f2bd6c8cf26.
Proper initialization of joints about x axis and free flyer.
Revert "Fix joint_F initialization issue."

This reverts commit 5f72fac6ecaa333bc37c1675d6be8eb30ff529ac.
Remove unnecessary initialization...
Update rotation matrices classes.
Add binary operations for rotation matrices + multiplication type finding.
Fix namespace problems with std, and one wrong output stream to cout.
Introduces new files organization for joints + test for transform.
joint.hh now is the entry point for the other joints files.
Introduces rotTsymmetricMatrix method for crba in optimized rotation matrix.
Add binary operator and multiplication operator for rotation matrix.