Fixes after method rename.
Moved and improved motionSubspace and motionSubspaceDotTimesV tests.
Disabled testInertiasInWorldFrame for now because inertiasInWorldFrame relies on a different format of dTdq in kinsol.
Rename part 1/2.
Rename part 2/2.
Added comments.
QdotTov --> Qdot2v, VToqdot --> V2qdot
Rename.
Comments.
Moved getRandomConfiguration to test for now.