Added test cases for Jacobian bias terms (JDot*u). These compare the analytical results to numerically-calculated approximations.
Added test cases for Jacobian bias terms (JDot*u). These compare the analytical results to numerically-calculated approximations.

scamille/simbody,elkingtonmcb/simbody,chrisdembia/simbody,Gjacquenot/simbody,simbody/simbody,Gjacquenot/simbody,scamille/simbody,robojukie/simbody,elen4/simbody,robojukie/simbody,elen4/simbody,elkingtonmcb/simbody,elkingtonmcb/simbody,chrisdembia/simbody,robojukie/simbody,simbody/simbody,chrisdembia/simbody,scamille/simbody,Gjacquenot/simbody