Enabled quaternion test for GeometricJacobian.
Got rid of the quaternion parameterization test in testMotionSubspaceDotV. In the quaternion floating base parameterization, the joint velocity is now simply the twist across the joint, so the motion subspace is identity and motion subspace dot v is zero. This does not warrant a test. Old test was assuming a quaternion dot velocity parameterization.
* replaced getCMM. Now doesn't use model.featherstone anymore, exploits data available in kinsol.
* added testGetCMM
* extracted computeInertiasInWorld (which can also return CRB inertias if needed) out into a RigidBodyManipulator method, since it's being used in multiple places (test, getCMM, HandC)
Fixes to get stuff to work better with TaylorVar.