Fix some bugs in SO3JointConfig.

  - joint number dof is 3, not 6,
  - remove wrong and useless linear interpolation in interpolate method.
Create 3 types of translation joints

  - JointTranslation is now a template class with size_type as a template	    argument. The template argument represent the dimension of the joint
    configuration.
Replace double by value_type.
Add methods in Joint class to get maximal linear and angular velocities.
Cosmetic: move displayTransform3f at end of joint.cc
Add a method in Joint that return the maximal distance of joint to parent.

  - useful for to make continuous collision checking extendable.