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
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()
Merge branch 'origin/master'

Conflicts:
	src/utils/SkelParser.cpp
	src/utils/urdf/DartLoader.h