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`KinematicsCache` constructor with two-parameters was resulting in confusion. This PR removes this constructor. The robustness of `RigidBodyTree::doKinematics()` was also increased to check for a `KinematicsCache` that is bad in terms of not having the proper number of `KinematicsCacheElement` objects. A unit test was added to lock in this newly added logic.\r\n\r\n<!-- Reviewable:start -->\r\n---\r\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/4685)\r\n<!-- Reviewable:end -->\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/270974459","html_url":"https://github.com/RobotLocomotion/drake/pull/4685#issuecomment-270974459","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4685","id":270974459,"user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"created_at":"2017-01-06T18:46:46Z","updated_at":"2017-01-06T18:46:46Z","body":"@sammy-tri I addressed your comment. PTAL. Thanks.\n\n---\n\nReview status: 6 of 9 files reviewed at latest revision, 1 unresolved discussion.\n\n---\n\n*[drake/multibody/rigid_body_tree.cc, line 959 at r3](https://reviewable.io:443/reviews/robotlocomotion/drake/4685#-K_oX9UNWctfmXGhIdLX:-K_p5Zjuw7boR2uFxNyG:b-896fix) ([raw file](https://github.com/robotlocomotion/drake/blob/d5701e5a74ced7da8345b5df283e68ab68fedada/drake/multibody/rigid_body_tree.cc#L959)):*\n<details><summary><i>Previously, sammy-tri (Sam Creasey) wrote…</i></summary><blockquote>\n\nInconsistent use of get_num_bodies() vs bodies.size()\n</blockquote></details>\n\nDone.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4685#-:-K_p5dvKEmIgoExn1VO5:b-hzctqu)*\n<!-- Sent from Reviewable.io -->\n"}}
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