Erwin Coumans ba8964c4ac [InverseDynamics] Support for Jacobians & derivatives ...

This change adds support for calculating Jacobians and
dot(Jacobian)*u terms, along with the required support for
the 3xN matrices in the standalone math library.
It also adds functions to compute kinematics only (position, velocity, accel).
To facilitate tests, the Cl also adds a RandomTreeCreator to create
randomized multibody trees.
Thanks to Thomas Buschmann for this contribution!

2016-08-25 16:24:28 -07:00

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