Merge pull request #288 from jmirabel/devel

src/algorithm/aba.hxx

src/algorithm/center-of-mass.hxx

src/algorithm/compute-all-terms.hpp

src/algorithm/crba.hxx

src/algorithm/energy.hpp

src/algorithm/jacobian.hxx

src/algorithm/joint-configuration.hpp

src/algorithm/kinematics.hxx

src/algorithm/rnea.hxx

src/multibody/geometry.hpp

src/multibody/model.hpp

src/multibody/model.hxx

unittest/compute-all-terms.cpp

unittest/finite-differences.cpp

unittest/frames.cpp

unittest/geom.cpp

unittest/jacobian.cpp

unittest/joint-configurations.cpp