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.

Eigen is by default column-major, but dgesv is working on column major.

Not tested yet.

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

Eigen is by default column-major, but dgesv is working on column major.

Not tested yet.