Merge pull request pyomeca#168 from pariterre/master

Standardized external forces for InverseDynamics

Updated version

Merge pull request pyomeca#157 from pariterre/master

Fixed dimensions of GeneralizedTorque when using quaternions

Merge pull request pyomeca#155 from pariterre/segmentCharact

Changing the segment characteristics properly

Merge pull request pyomeca#151 from pariterre/Quaternion

Added Qranges for quaternions

Merge pull request pyomeca#148 from pariterre/master

Added example for all front ends, simplified bunch of stuff

Merge pull request pyomeca#143 from pariterre/master

Made it possible to send None for Q, Qdot and Qddot pointers

Merge pull request pyomeca#142 from pariterre/master

Proper muscle state interface

Merge pull request pyomeca#131 from paulWegiel/test_actuators

Tests for actuators

Merge pull request pyomeca#126 from paulWegiel/master

Casadi wasn't working