Test changing frames by comparing the results of changeExpressedInWhatReferenceFrame()
with the results of the 'tilde' formula from
Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (b)
Tests computation of the Jacobian for a simple 2D manipulator, as shown in
Duindam - Port-based modeling and control for efficient bipedal robots, p.34
Jacobian was also computed manually using a Matlab script.