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Martin Felis committed dc4f56f

minor README improvement

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 and tightly follows the notation used in Roy Featherstone''s book "Rigid
 Body Dynamics Algorithm".
 
+Recent Changes
+==============
+ *  29 January 2013: added code for api_version_checking
+ *  18 June 2012: added support of luamodel_introduction
+ *  01 June 2012: added support of joint_models_fixed
+ *  14 May 2012: fixed Body constructor as reported by Maxime Reis
+ *  04 April 2012: added benchmark tool for CRBA
+ *  01 March 2012: added multi degree of freedom joint_models
+ *  06 Februry 2012: restructured constraint handling using RigidBodyDynamics::ConstraintSet
+ *  24 January 2012: implemented compact and fast representation of RigidBodyDynamics::Math::SpatialTransform
+
 Documentation
 =============