Design draft for kinematics/dynamics library...

I have uploaded my draft for a general kinematics and dynamics
library: <http://www.orocos.org/kindyn.html>.

This is a quite extensive and ambitious design (no code yet!), so
critical remarks are very welcome :-)

The goal is to cover "everyhting" _and_ to propose a decomposition
into more or less independent libraries. The whole thing should be
useable outside of the Orocos context too.

Herman
-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480