issue 78: Torques from Rnea and equation of motion don't match
- improve RNEA test for checking the match between the torques computed from RNEA and those computed from the equation of motion
- improve compareLogs func (log the diffs with the reference file)
Fix method mulMatrixTransposeBy of class TransformT specializations (RotationMatrixAboutYTpl & RotationMatrixAboutZTpl)
- Fix mulMatrixTransposeBy() in class TransformT<FloatType, RotationMatrixAboutYTpl<FloatType> >
  and in class TransformT<FloatType, RotationMatrixAboutZTpl<FloatType> >
- add node.joint_F and Iic to PrintStateVisitor
- use q.conf instead of q_init.conf in crba_test
  (q_init.conf vector has only null values and does not stress enough the CRBA algorithm
- log robot state in test_crba
Fixed rotTSymmetricMatrix() (computing of Et*I*E)
- renamed aEIEt to aEtIE
- fixed alpha_y computation in rotTSymmetricMatrix()
- generated crba.ref from "q.conf" config
Removed tabulations
Merge pull request #80 from nunoguedelha/topic/fix_fixed_axis_transforms

Topic/fix fixed axis transforms