Changed doKinematics: based on twists now. Updated geometricJacobian, geometricJacobianDotV, and analyticalJacobian. Got testGeometricJacobian, testGeometricJacobianDotV and testAnalyticalJacobian to pass.
Merge branch 'floatingBase' of https://github.com/RussTedrake/drake into floatingBase