Correct documentation: add \end{matrix}
init cj to zero
Fix warnings.
Remove lvector6dMaker.
Merge remote-tracking branch 'laas/master' into qibuild
test: fix boost dep for 1.40

we now link with boost unit_test_framework instead of test_exec_monitor,
because 1) the latter is not in boost 1.40 (as packaged by ubuntu) and
2) this is what jrl-cmake does.