Removes unused include from InputVtcExample.cpp
NovintScaffold force/torque calculations use stiffness/damping, if any.

computeRotationVector should probably be refactored or move to Math.
PhantomScaffold force/torque calculations use stiffness/damping, if any.

This commit has not yet been tested.
Uses Eigen::Matrix::data instead of Maps in NovintScaffold.
Bugfix, NovintScaffold assigns to fakeBasisMatrix.
Moves computeRotationVector into Math.
Uses Eigen::Matrix::data() instead of Maps in PhantomScaffold.
Alphabetically orders NovintScaffold includes.
Bugfix, fixes broken build due to half-completed PhantomScaffold change.

Moves the outputData variable into the force/torque function.
Uses the correct variable names from the DeviceData struct.
Removes the scaling (which is not currently in our Phantom code).
Merge branch 'master' into feature/haptic-use-stiffness-damping

Conflicts:
	SurgSim/Physics/VirtualToolCoupler.cpp
VirtualToolCoupler uses computRotationVector in Math.
VirtualToolCoupler checks for necessary inputs at wakeUp.
Moves Matrix66d typedef into Matrix.h.
Haptic devices now expect 6x6 Jacobians (from VTC-like behaviors).

Also, updates variable names in haptic scaffolds's DeviceData.
Removes unneeded computeRotationVector overload.
Fixes whitespace and long lines in Scaffolds and VTC.
Merge branch 'master' into feature/haptic-use-stiffness-damping

Conflicts:
	Examples/InputVtc/InputVtcExample.cpp
Extend Accessible getValue to return a typed value

add more unit tests to accessible to check correct behavior for getValue
added 'const' to getValue
Rename setSize(double, double, double) method to setSizeXYZ and getSizeXYZ respectively
Basic Serialization in Component, Representation and Graphics::Representation

Fix registration macro in Objectfactory
add setter for group references in Graphics::Representation