Moved testFindAncestorBodies and testFindKinematicPath from examples/Atlas/test to systems/plants/test.
mexed findKinematicPath
mexed geometricJacobian, added transformSpatialMotion and transformSpatialForce methods.
Conditionally compile geometricJacobian under Windows.
cmake
Fixed analyticalJacobian test, got rid of fixed random seed for testGeometricJacobian.
Fixed mex/non-mex logic in geometricJacobian
got rid of superfluous include
got rid of commented out old implementation of findKinematicPath
Merge pull request #505 from tkoolen/geometricJacobian-cpp

Mex for geometricJacobian and findKinematicPath