Solution of the “force” system is now done explicitly with the truncated pseudoinverse instead of the solve method of JacobiSVD.

Explicitly passing the svd decomposition to the pseudoinverse function thus avoiding dynamic allocation (at least of the decomposition object)

About solving the “force” system:
Newer version (the devel one) of Eigen support an explicit threshold which can be set on the decomposition object thus avoiding to compute (explicitly) the SVD.
Because we are limited to 3.2.x (at least for now)  which does not have this function we compute the SVD.
Moved computation of 3D skew symmetric matrix into coydco-commons