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