DGM with transform chains

Also small bugs are fixen in the symbolmrg
DGM with transform chains -- IGM fix

IGM is working as before, and even better. Still some improvments in IGM
Paul method are possible
Paul IGM

IGM efficiently deals with constant transformations in the
transformation chain
DGM term change
Start Matlab function output module
Merge branch 'floating' into geom_revamp
Matlab function generator
Fix in the inertia matrix computation
Fix the identification model

Problem was in the naming system, another bug due to the changing of
numeration
Matlab functions fix, small dynamic fix

Matlab functions will write all the unknown constants as global,
In the dynamic model the computation parts of DDM and Inertia matrix
were separeted from the interface functions
Merge branch 'geom_revamp' into floating