Fix bug in Orientation.
Cosmetic change: suppress multi-line comment and extra ';' warnings.
Fix bug: outputSize of RelativePosition depends on mask
Define relative position task differently

  Error is not expressed in Joint1 frame, so that mask now makes sense.
Add tests for jacobian.
Fix computation of error when orientation is close to reference

  - theta/sin(theta) has been replaced by 1 when theta is less than 1e-6.
COM constraint
Merge remote-tracking branch 'origin/master'