matrix Q first draft started
ready for compil
Merge branch 'dbg_hybrid_dynamics_permutMatrixQ' into dbg_hybrid_dynamics_nuOfFwdDyn_permutMatrixQ
draft n1
draft n2
draft n3 compil ok
draft n4
draft n5
draft n6: debugging simple_humanoid
draft n7: tests implemented. joints reordered as per depth first traversal order
Set Nu(fwd_dyn) from fwd_dyn in simple_arm and simple_humanoid models
- implement template "initNuFwdDyn" and respective unit tests:
  tests are dynamic, and fit to any fwd_dyn mapping in the URDF models
- implement cmake compile flag MODEL_JOINT_FWD_DYN_FROM_URDF_ON_OFF.
  possible string values for flag are,
  FROM_URDF => "jointFwdDyn" (in header model file) init from <dynamics>-fwd_dyn params in URDF file (this has a URDF dependency! not yet released)
  ALL_ON    => force (locally in metapod) all "jointFwdDyn" to true
  ALL_OFF   => force (locally in metapod) all "jointFwdDyn" to false

Merge commit '3f0a3739e7f79b7987f5f44bc8891880a3d30d25' into topic/hybrid_dynamics_algo_temp
perm Q: does not compile
Merge branch 'dbg_hybrid_dynamics_nuOfFwdDyn_permutMatrixQ' into topic/hybrid_dynamics_algo