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--- 10-13-2018 ---
Add note in kinematics module noting that kinematics must be updated before using reference frame objects

--- 10-13-2018 ---
Add Eigen stl vector specialization for Vector4d and Quaternion objects
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--- 10-13-2018 ---
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Add explicit keyword to a number of the classes constructors

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--- 10-14-2018 ---
Remove temp data structures in Model struct.
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Deprecate forwardDynamicsLagrangian that uses pointers and could result in memory allocations

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--- 10-14-2018 ---
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Add functions to calc the jacobians and their time derivatives in single functions instead of requiring two separate calls
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which will be faster if you want to compute them both.

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--- 12-08-2018 ---
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Add optional bool arg to dynamics functions to not compute kinematics quantities if they've already been computed
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--- 12-10-2018 ---
Add FixedReferenceFrame class to improve the API of fixed reference frames and to remove the requirement that you call frame->update() each tic 
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for frames whose transformFromParent never changes after construction.

--- 12-31-2018 ---
In previous fix regarding the reference frame transforms before kinematics have been updated, I didn't account for the case where the parent frame is a 
fixed frame. Added bugfix here to account for that
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--- 01-17-2019 ---
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Fix bug with FrameOriention where operation was incorrect when calling changeFrame

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--- 03-07-2019 ---
Add rdl_ros_tools package and rdl_msgs for the beginning of a set of ROS tools

--- 03-17-2019 ---
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Fix issues making rdl incompatible with melodic

--- 04-05-2019 ---
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Removed a bunch of deprecated functions

--- 04-06-2019 ---
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Reworked FrameOrientation inheritance so it inherits from Quaternion instead of having a Quaternion

--- 04-07-2019 ---
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Added Model::mass variable where you can get the mass of the model

--- 05-11-2019 ---
Remove the use of raw pointers and replace them with typedef'd std::shared_ptr's
Remove ReferenceFrameHolder
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Minor rework to ReferenceFrame internal functionality to improve efficiency

--- 05-11-2019 ---
Create types.hpp file that auto generates shared_ptr typedef's