Merge pull request #77 from bchretien/master

Install metapod_robotbuilder library.
issue 78: Torques from Rnea and equation of motion don't match
- improve RNEA test for checking the match between the torques computed from RNEA and those computed from the equation of motion
- improve compareLogs func (log the diffs with the reference file)
Fix method mulMatrixTransposeBy of class TransformT specializations (RotationMatrixAboutYTpl & RotationMatrixAboutZTpl)
- Fix mulMatrixTransposeBy() in class TransformT<FloatType, RotationMatrixAboutYTpl<FloatType> >
  and in class TransformT<FloatType, RotationMatrixAboutZTpl<FloatType> >
- add node.joint_F and Iic to PrintStateVisitor
- use q.conf instead of q_init.conf in crba_test
  (q_init.conf vector has only null values and does not stress enough the CRBA algorithm
- log robot state in test_crba
Fixed rotTSymmetricMatrix() (computing of Et*I*E)
- renamed aEIEt to aEtIE
- fixed alpha_y computation in rotTSymmetricMatrix()
- generated crba.ref from "q.conf" config
Removed tabulations
Add a more classical benchmarking test.

It is possible to read set of data computed elswhere.
No party recomputing the same set of data.
Add benchmarks more coherent to standard tests.

The benchmark developed previously are mandling
several things:
- First they are mixing methods calls to the pure computation
- Second they are not creating new instances of problems at each
iteration. This bias the computation.

We keep previous benchmarks to keep references with previous
tests.
Merge pull request #80 from nunoguedelha/topic/fix_fixed_axis_transforms

Topic/fix fixed axis transforms
Set Nu(fwd_dyn) from fwd_dyn in simple_arm and simple_humanoid models
- implement template "initNuFwdDyn" and respective unit tests:
  tests are dynamic, and fit to any fwd_dyn mapping in the URDF models
- implement cmake compile flag MODEL_JOINT_FWD_DYN_FROM_URDF_ON_OFF.
  possible string values for flag are,
  FROM_URDF => "jointFwdDyn" (in header model file) init from <dynamics>-fwd_dyn params in URDF file (this has a URDF dependency! not yet released)
  ALL_ON    => force (locally in metapod) all "jointFwdDyn" to true
  ALL_OFF   => force (locally in metapod) all "jointFwdDyn" to false

Merge commit '3f0a3739e7f79b7987f5f44bc8891880a3d30d25' into topic/hybrid_dynamics_algo_temp
Compute Permutation Matrix Q & Qt from fwd_dyn config
- refer to Featherstone Hybrid Dynamics algorithm section 9.1
- Q & Qt are static members of the model class, of type Eigen::PermutationMatrix
- template qcalc computes Q & Qt at runtime
- implemented tools/initnufwddyn.hh templates for unit testing
Merge branch 'dbg_hybrid_dynamics_nuOfFwdDyn_permutMatrixQ' into topic/hybrid_dynamics_algo
Hybrid Dynamics algorithm and unit tests:
- implemented hybrid dynamics algo (chda.hh)
- updated benchmarks
- added handling of ALL_ON and ALL_OFF joint Fwd_Dyn configurations in
  hybrid dynamics algorithm (avoid null dimension matrixes)
- added gravity parameter in rnea.hh and chda.hh
- reference files for testing chda.hh are generated automatically

Base:
Merge tag 'CHDA_base' into topic/hybrid_dynamics_algo

Conflicts:
	include/metapod/algos/chda.hh
    	robotbuilder/tpl/init.in.cc
    	robotbuilder/tpl/init.in.hh
    	tests/common.hh
    	tests/data/simple_arm/chdaTorques.ref
    	tests/use_model/test_chda.cc
    	tests/use_model/test_qcalc.cc
    	tests/use_model/test_rnea.cc
Update history, fix tabulations
Backward compatibility with URDF parser (fwd_dyn param not parsed) :
Set cmake flag default value MODEL_JOINT_FWD_DYN_FROM_URDF_ON_OFF to "ALL_OFF"
Fixed setting of cmake flag MODEL_JOINT_FWD_DYN_FROM_URDF_ON_OFF.
- fixed issue: cmake flag was set after build of metapodfromurdf.cpp
Restore original URDF models format (without parameter <dynamics>-fwd_dyn).
- official urdf parser ignores this parameter but seeks for friction or dumping parameters if flag <dynamics> is present.
Merge pull request #81 from nunoguedelha/topic/R_hybrid_dynamics_algo

Topic/r hybrid dynamics algo
Fix warnings.
Update README for performance benchmarking.
Documentation improvments.
Getting started documentation
Documentation structure.
Additional tests.