Suppress warning for Atlas.
Updated testQdotToV to test gradient as well. Added isnumeric check in quat2rotmat; not sure yet if that's a good idea.
Merged testRigidBodyManipulatorGradients into testDoKinematics.
Code formatting.
Added testForwardKin. Currently not passing. Also the gradients test in testGeometricJacobian is not passing (anymore, I believe). Trying to figure out what broke things. Small changes to support TaylorVar.
Got testGeometricJacobian to pass again (numerical instead of TaylorVar). Need to figure out why TaylorVar gives a different answer.
Replaced normalization by error when norm(quaternion) is not 1.