Merge remote-tracking branch 'origin/devel' into 'devel'

src/algorithm/joint-configuration.hpp

src/multibody/joint/joint-base.hpp

src/multibody/joint/joint-basic-visitors.hpp

src/multibody/joint/joint-basic-visitors.hxx

src/multibody/joint/joint-dense.hpp

src/multibody/joint/joint-free-flyer.hpp

src/multibody/joint/joint-planar.hpp

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

src/multibody/joint/joint-prismatic.hpp

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

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

src/multibody/joint/joint-revolute.hpp

src/multibody/joint/joint-spherical-ZYX.hpp

src/multibody/joint/joint-spherical.hpp

src/multibody/joint/joint-translation.hpp

src/multibody/joint/joint.hpp

src/multibody/visitor.hpp

src/spatial/explog.hpp

unittest/CMakeLists.txt

unittest/geom.cpp