Improved documentation on occluded markers.
Got rid of for loops in gradient computation. Added cellMatGradMultMat.
extracted motionCaptureJointCalibration function out of jointOffsetCalibration. Also using motionCaptureJointCalibration for joint stiffness calibration, and added a test for this.
refactored motionCaptureJointCalibration to work with any number of bodies
updated jointStiffnessCalibration: now it first finds the floating states and then the stiffnesses.
now using quaternion parameterization inside motionCaptureJointCalibration. Floating states found are more often correct, but there's still issues with [3.14; x; 3.14] rpy's
updated documentation, fewer poses in stiffness test so that it runs faster