Merge pull request #495 from jcarpent/devel

src/algorithm/joint-configuration.hxx

src/multibody/liegroup/cartesian-product.hpp

src/multibody/liegroup/liegroup-variant-visitors.hxx

src/multibody/liegroup/liegroup.hpp

src/multibody/liegroup/operation-base.hpp

src/multibody/liegroup/operation-base.hxx

src/multibody/liegroup/special-euclidean.hpp

src/multibody/liegroup/special-orthogonal.hpp

src/multibody/liegroup/vector-space.hpp

src/multibody/model.hxx

unittest/joint-composite.cpp

unittest/liegroups.cpp