Merge pull request #242 from fvalenza/topic/JointRevoluteUnbounded

CMakeLists.txt

src/CMakeLists.txt

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-variant.hpp

unittest/joint.cpp

unittest/joints.cpp