Added method for point cloud sampling for tri mesh model

See merge request Simox/simox!88

Added dynamic damping factor to compute pseudo inverse jacobian;

See merge request Simox/simox!87

Added method to get the coordinate system for manipulability ellipsoids

Generalize linear regression code to N-d, use explicit template initialization

See merge request Simox/simox!85

Linear regression 3d

See merge request Simox/simox!84

In this case, we just ignore the torque limit (it's just simulation, so what can go wrong :)