Merge pull request #326 from fvalenza/topic/JointComposite

CMakeLists.txt

bindings/python/joint.hpp

src/algorithm/center-of-mass.hxx

src/algorithm/crba.hxx

src/algorithm/joint-configuration.hpp

src/multibody/constraint.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-composite.hpp

src/multibody/joint/joint-prismatic.hpp

src/multibody/joint/joint-variant.hpp

src/multibody/joint/joint.hpp

src/multibody/model.hpp

src/multibody/model.hxx

src/parsers/sample-models.cpp

src/parsers/urdf/model.cpp

unittest/CMakeLists.txt

unittest/finite-differences.cpp

unittest/joint-composite.cpp