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
Merge branch 'origin/master'
Rename constraint related names
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.
Use error reduction parameter (ERP) concept similar to ODE
Merge branch 'origin/master'