From cout to ODEBUG macro

Reinforce the 80 columns convention

Working version with Talos and dynamical filter.
Computation time needs to be checked.

Maximum speed reach with TALOS when setting SS phase to 1.0.
Divergence otherwise.

Current status: The sign of the orientation seems to be wrong.
TODO: Check where does this comes from.

and faster debugging.

Enforce 80 columns policy
Indentation to 2 spaces.

Remove warnings

+ enforce the 80 columns rule.

Pb with pinocchio v2.1.0 and retrieveCollisionGeometrey.
It works only if this method is inline.