[WIP] Component interface for providing implicit form of dynamics#1147

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chrisdembia wants to merge 14 commits intomainfrom

implicit_operator

Commits on Jul 14, 2016

Start test for implicit differential equations.
chrisdembia
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Commits on Jul 15, 2016

Commits on Jul 16, 2016

Added multibody system (no constraints) to residuals.
chrisdembia
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Commits on Jul 22, 2016

Commits on Jul 26, 2016

Commits on Jul 28, 2016

Halfway through converting to operator scheme.
chrisdembia
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Commits on Jul 29, 2016

First complete pass of operator form.
chrisdembia
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Commits on Jul 30, 2016

Rearrange implicit methods.
chrisdembia
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Commits on Jul 31, 2016

Use newer Simbody with calcConstraintAccelerationErrors().
chrisdembia
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Commits on Aug 1, 2016

First pass at doxygen for Model::calcImplicitResiduals.
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