laas/metapod — pull request #54 by sbarthelemy (2013-02-25 11:27:49+00:00)
Title: Reinstate algorithms

reinstate the getTorque and jac_point* algorithms which were not ported yet to the new data structure.

Also add the "jac" algorithm, as an alternative to the jac_point* ones. It computes all the jacobians in one go, and is faster for this use case.