Merge pull request #150 from jcarpent/topic/rework

.travis.yml

CMakeLists.txt

benchmark/timings-geometry.cpp

benchmark/timings.cpp

cmake

python/tests.py

src/CMakeLists.txt

src/algorithm/aba.hpp

src/algorithm/aba.hxx

src/algorithm/center-of-mass.hpp

src/algorithm/center-of-mass.hxx

src/algorithm/compute-all-terms.hpp

src/algorithm/crba.hpp

src/algorithm/crba.hxx

src/algorithm/dynamics.hpp

src/algorithm/rnea.hpp

src/algorithm/rnea.hxx

src/multibody/constraint.hpp

src/multibody/force-set.hpp

src/multibody/joint/joint-base.hpp