Fix use of boost::shared_ptr in DartLoader::parseSkeleton()
Use augmented mass matrix and inverse of augmentd mass matrix in ConstraintDynamics.
- We apply joint daming and stiff forces in implicit way. This modifies the original mass matrix from M to (M + dt * D + dt * dt * K) where D is diagonal damping matrix, K is diagonal stiffness matrix, and dt is the simulation time step.
- The user also can get both of the original mass matrix and augmented mass matrix (inverse of the matrices too)
Decrease number of random tests in testDynamics.cpp to pass travis-CI in debug mode
Fix computation of M, InvM, AugM, InvAugM
- add additional intermediate variables in BodyNode to compute them
- add setter and getter function for joint rest position
- add unit test for these computation
Clean up testDynamics.cpp
Fix typo in Joint.cpp
Clean up testDynamics.cpp
Fix Joint::setRestPosition()
Merge branch 'origin/master'
Merge pull request #135 from dartsim/urdf_loader

Fix use of boost::shared_ptr in DartLoader::parseSkeleton()
Merge branch 'origin/master'