Merge pull request #30 from jcarpent/dev

benchmark/timings.cpp

src/algorithm/center-of-mass.hpp

src/algorithm/joint-limits.hpp

src/algorithm/kinematics.hpp

src/multibody/joint/joint-revolute-unaligned.hpp

src/multibody/joint/joint-translation.hpp

src/multibody/model.hpp

src/python/algorithms.hpp

src/python/data.hpp

src/python/explog.hpp

src/python/robot_wrapper.py

src/python/utils.py

src/tools/timer.hpp

unittest/com.cpp

unittest/lua.cpp