Issue #13 resolved
Hi Martin, apparently your test suite in failing on i386, apprently because of numerical imprecision.
Here is the output I have on Debian Sid i386:
./*/tests/runtests || true /tmp/buildd/rbdl-2.0.0/tests/ModelTests.cc:487: error: Failure in ModelAppendFixedToFixedBody: Expected [ 1.06857 1.49714 0.468571 ] but was [ 1.06857 1.49714 0.468571 ] FAILURE: 1 out of 127 tests failed (1 failures).
I did not check the source yet. What order of imprecision is allowed before your tests fail?