This change adds support for calculating Jacobians and
dot(Jacobian)*u terms, along with the required support for
the 3xN matrices in the standalone math library.
It also adds functions to compute kinematics only (position, velocity, accel).
To facilitate tests, the Cl also adds a RandomTreeCreator to create
randomized multibody trees.
Thanks to Thomas Buschmann for this contribution!
BulletInverseDynamics can be configured to compile using Eigen
instead of Bullet's LinearMath.
Adds a preprocessor defined specific namespace for each
configuration to produce linker errors if incompatible
libraries are linked (eg, builtin core library and
utilities for bullet types).
