Got rid of Tdot computation from doKinematics.
computeSpatialAccelerations bug fix.
New regressionTestAtlasManipulatorDynamics.mat created from master. Just to be 100% sure we're not just checking against ourselves.
getCMM --> centroidalMomentumMatrix, centroidalMomentumMatrixDotTimesV. Currently pretty inefficient due to repeated computation of inertias in world frame, but I'm thinking about moving that to doKinematics and putting it in kinsol.