Call computeEquationsOfMotionID() in World::addSkeleton() because some controller need equation of motion especially M, M^{-1} to calculate control input at the beginning of simulation.
Remove boost from header files

This way boost-dev is no longer a development dependency of DART.
Merge branch 'master' of github.com:dartsim/dart
Remove boost headers from SkelParser
- Clean up joints
- Remove kinetic energy and potential energy parts from Skeleton and joints since there are not implemented yet.
Change CMake files two build 2 dart libraries
Merge branch 'master' of github.com:dartsim/dart
Remove CMake file that has been replaced
Fix bug in CMake file
Merge branch 'origin/master'

Conflicts:
	CMakeLists.txt
	apps/drawRRT/CMakeLists.txt
	cmake/FindDARTExt.cmake.in
	src/utils/urdf/DartLoader.cpp
	src/utils/urdf/DartLoader.h
	src/utils/urdf/urdf_world_parser.cpp
	src/utils/urdf/urdf_world_parser.h
Fix linker errors in debug mode on Linux
Move math related tests from testUtilities.cpp to testMath.cpp
Change tag from <immobile> to <mobile> in skel parer
Modify toBool to be able to read "true" and "false"
Fix indexing in PointConstrain.cpp
Restoring apps/hanging (not done yet)
Add default parameter value to BodyNode::getWorldJacobian()
Fix dynamics update for immobile skeletons
Merge branch 'origin/master'

Conflicts:
	CMakeLists.txt