geometricJacobian RPY and quat floating base parameterization
Move twist utility functions to their own files
compute twists in doKinematics
now computing Tdot from twists
remove relativeTdot
Untangled dTdqdot computation from rest of kinematics computation. Allows us to get rid of double computation of Tdot.
cleanup
cleanup
cleanup.
cleanup
added test for relativeTwist. Fixed bug in relativeTwist.
relativeTwist documentation
Added spatialAccelerations + test

Test passes for a fixed-base Atlas. Floating base is still to do
because the motion subspace is time variant.
Switched to written-out version of spatial acceleration transformation.
Cleanup.
Moved transformSpatialAcceleration to its own file.
Added geometricJacobianDotV + test.

Test vs numerical differentiation passes for joints with a time
invariant motion subspace; need to write motionSubspaceDot to get 6-DoF
joints parameterized using roy or quat to work.
Implemented motionSubspaceDotV

Wrote motionSubspaceDotV + test. Method is necessary to correctly
compute spatial accelerations across joints that have time-varying
motion subspaces (e.g. rpy and quat parameterized 6-DoF joints).
testGeometricJacobianDotV and testSpatialAccelerations now pass even if
the robot contains 6-DoF joints.
Wrote analyticalJacobian + test.

Test compares analyticalJacobian to forwardKin. Output is now correct
for all three rotationTypes.
Added computation time comparison to testAnalyticalJacobian.