Compliant: fixed bad blocks in AssembledSystem

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9468 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added spatial velocity conversion in se3.h

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9469 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added body-spatial velocities conversion

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9470 b7f1a160-662a-0410-a6d8-bea165342f16