So far, the Cosserat rod energy implementation hat a first-order
finite element space hardcoded.  This patch removes that restriction.
As for the other models in this Dune module, the finite element basis
is now a template parameter of the model energy, and can be set to
any reasonable basis.

It is not a 'stiffness' anymore, but really only implements the
energy.

Previously, the rod3d code used a hand-implemented first derivative
of the rod energy, and FD for the second derivatives.  This patch
replaces this by ADOL-C for both first and second derivatives.
Advantages are:
* The code is much shorter, and easier to understand.
* The previous code contained interpolation formulae for
  first-order 1d geodesic finite elements.  This restricted
  rod problems to first-order GFE.  A follow-up patch will
  allow higher-order approximations.
* The new code runs roughly twice as fast.

As a first step towards getting rid of the RodAssembler class,
this patch moves the getStrain, getStress, and getResultantForce
methods to the RodLocalStiffness class.  I am not 100% convinced
that that is the best place for them, but I can't think of a
better one right now.

LocalFirstOrderModel will be an abstract base class for models that
implement an energy and a first (not no second) derivative.

A LocalGeodesicFEStiffness 'is a' LocalFirstOrderModel, which 'is a'
LocalEnergy.

This used to work, because the matrix is 1x1 anyway (with corresponding
vectors), but some time ago the matrix and vector assignment
in dune-common was reworked, and now the code does not compile
anymore.

PQKNodalBasis has been renamed to PQkNodalBasis

[[Imported from SVN: r10101]]

[[Imported from SVN: r9978]]

[[Imported from SVN: r9977]]

This is now mandatory since Quaternions are not implicitly casted to Rotations
anymore (via Quaternion --> FieldVector<4> --> Rotation).  This implicit cast
lead to a nasty bug here, because it involved a normalization of the argument.

[[Imported from SVN: r8347]]

[[Imported from SVN: r8346]]

[[Imported from SVN: r8345]]

[[Imported from SVN: r8182]]

target space classes.  In particular, the coordinate type
now has to be given explicitly.

[[Imported from SVN: r8149]]

[[Imported from SVN: r7865]]

framework wants a global function space basis.

So far the P1 basis is hardwired for simplicity.

[[Imported from SVN: r7863]]

[[Imported from SVN: r7574]]

[[Imported from SVN: r7555]]

[[Imported from SVN: r7047]]

[[Imported from SVN: r5931]]

[[Imported from SVN: r5676]]

[[Imported from SVN: r5675]]

[[Imported from SVN: r5640]]

[[Imported from SVN: r5638]]

[[Imported from SVN: r4081]]