cartwheel: change some naming conventions (again)
cartwheel: add and use CharacterConst::footPosX constant
cartwheel: change rigid body ids
cartwheel: remove ODE/OpenGL dependencies from BodyQ class
cartwheel: add FullState container class
cartwheel: CWRobot: keep ODE bodies in array, not in individual
    member variables
cartwheel: transformations between joint space and Cartesian coordinates
    (work in progress!)
fix a wrong sign, plus other errors, in the kinematic tree derivation
work on kinematic tree derivation
kintree: fix RigidBody::setMass
kintree: work on Cartwheel walker simulation
add notes on transformation behaviour of spatial (6d) vectors
Merge branch 'master' of https://github.com/nfbraun/xrp