iron76/bnt_time_varying — pull request #5 by traversaro (2014-12-31 17:25:29+00:00)
Title: Added preliminary version of computation of derivatives

Of dynamics matrices with respect to q and \dot{q}.
Maths details temporary available here: http://mathb.in/25572 .
Still not complete. Missing the derivative of global transformation for external wrench.
We want to estimate the external wrenches in the world frame for some particular reason?
know that in Featherstone they are expressed in the global frame, but that is quite handy in simulation.