typo
Revert "typo"

This reverts commit ac115356f8a5e29652bcbfc24f1d0f43b4bab9f1.
just a typo in a comment
Modifications to get TaskSpace to work on Windows:
- had to rearrange terms in inverse dynamics calculation because class+vector operators were there but not vector+class operators
- had to split definitions into separate TaskSpace.cpp file; putting them in the header was inconsistent with the SimTK_SIMBODY_EXPORT declarations
- some headers were missing