First working vesrion of CRBA (checked VS RBDL for revolute joints).

CMakeLists.txt

doc/latex/se3.tex

src/algorithm/crba.hpp

src/algorithm/rnea.hpp

src/exception.hpp

src/multibody/constraint.hpp

src/multibody/joint/joint-base.hpp

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

src/multibody/joint/joint-generic.hpp

src/multibody/joint/joint-revolute.hpp

src/multibody/model.hpp

src/multibody/parser/urdf.hpp

src/spatial/inertia.hpp

unittest/crba.cpp

unittest/tspatial.cpp

unittest/variant.cpp