Error in equil modal

See merge request robotran/mbsysc!239

Ubuntu18 pipeline

See merge request robotran/mbsysc!238

Options equil modal uxd

See merge request robotran/mbsysc!237

Solve Issue #141

important changes in the way the gradient is tested in the equil module initialization. Now the rank is used multiple times on the gradient matrix to determine which variable is sensitive, non-sensitive (i.e. full of zero) and ignorable (column is a dependent combination of others)

Update documentation for Inverse dynamics as Robotran V1.11.2 now required nqu >0 to run a dirdyn analysis.

Solve kin

See merge request robotran/mbsysc!234

+ addition of a new function compute_linearMatrices in case the user would like to realize the linearization easily in another part of the code

modification of the lpk structure so that it can also be used for gradient evaluation in the equil module. This implies the definition of extra variables in the equil structure