Compiler errors with CodeGenerator

[petercorke]

Compiling CodeGenerator code leads to lots of incompatible pointer issues. These are turned off for the moment by setting -Wno-incompatible-pointer-types

mexFunction like accel.c, accepts a double* but passes it to a double [][3] or double [][6] in the generated functions ROBOT_accel.c, ROBOT_coriolis.c, ROBOT_friction.c, ROBOT_gravload.c, ROBOT_inertia.c.

The utility functions in gaussjordan.c and matvecprod.c in turn accept double * arguments.

Need to either use more explicit casts or rejig all the code to be consistent in pointer notation.