* This is done to keep compatibility with dependant libraries that use boost types. * Add conversion utility function from and to RBDL (Eigen) math types. * RBDL math types still used in algorithms.
* This method is called once the kinematic tree has been built. * The joint vector is first built by exploring the tree. * Joint vector is then used to build the rbdl model; the model must correspond exactly with the kinematic tree. * Fixed joints still need to be treated properly.
* This will have to be backported to the abstract interface.