* Re-organize the python modules, in eigenpy and pinocchio. Eigenpy should be a module (now loaded by pinocchio).

* Add boost test suite to all tests (crba, rnea etc..)

Replace int type with Data::Index where it is necessary. The idea is to be able to switch between int and long according to the current architecture.

* Replace int type with Data::Index where it is necessary. The idea is to be able to switch between int and long according to the current architecture.

* Add computation of 3d jacobian

* Add algo to compute the velocity, acceleration of a point attached to a body

* Add computation of non linear effects

* Add global computation of M, b, and J in the same loop

* Add computation of dM/dq, db/dq, db/dqdot, etc

* Add additionnal in data structure to avoid useless computations

* Add additionnal in data structure to avoid useless computations

* Add joint limit ( probably in joint-base ) and modify parser consequently

* Switch between int and long depend on the architecture ?