Move log and JLog computation in a separate file.
Move eigen typedefs
Use log of rotation matrix instead of scalar product in
StaticStabilityGravity
StaticStabilityGravity does not use CoM of objects.
Fix bug regarding triangles transformation initialization.
Fix bug regarding selection of triangles.
Remove CoM from StaticStabilityGravity
StaticStabilityGravity uses fcl::TriangleP