Removed templates
Masks applied in a more robust way
Added ComputeFkDot, to test better
Added copy constructor
Removed get solver
Added computeJacobian function with arguments
Changed compilation flags
PseudoInverse and ApplyMasks are real time safe
Real time safe
Added README.md
Merge branch 'real_time_checks' of https://github.com/graiola/kdl_kinematics

Conflicts:
	README.md
	include/kdl_kinematics/kdl_kinematics.h
	src/kdl_kinematics.cpp