Updated to conform to new Orocos KDL version

I updated the CMake and code to comply with the newly released version of Orocos KDL.

Tested on OSX 10.9.2, LLVM Apple version 5.0 and 5.1 both using `libstdc++` and `libc++`

Must be tested on other platforms.
I don't know if you want to check the CMake file to add a check on the required version of orocos KDL and setting as `REQUIRED` the find of boost library.