Fixing issue #47 and adding PlanarJoint support for URDFs#326

Merged

jslee02 merged 2 commits intomasterfrom grey/urdf_fixes

Feb 4, 2015

+21-13

Commits on Feb 3, 2015

now supporting PlanarJoints from URDF and accounting for inertia matrix rotation
mxgrey
committed

Commits on Feb 4, 2015

Modify comment on parsing PlanarJoint
jslee02
committed