- Member RobotDynamics::forwardDynamicsContactsKokkevis (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
- Allow for external forces
- Class RobotDynamics::Model
- - Need to implement proper copy constructor, so I can use raw pointers and can clean them up properly
