[bindings/framejacobiantimevariation] add a function framesJacobianTimeVariation in the groove of framesJacobian that also calls compute and fk.

[algorithm/frames] add getFrameJacobianTimeVariation in the same groove as getJointJacobianTimeVariation

Differentiate was not the right term as it is devoded to differential calculus.
This is related to #432.

This provides some useful information for end users

Some functions working on Jacobian have been renamed:

- getJacobian is now getJointJacobian
- computeJacobians is now computeJointJacobians
- getJacobianTimeVariation is now getJointJacobianTimeVariation
- computeJacobiansTimeVariation is now getJointJacobianTimeVariation

  Now:
    - initDisplay just create a window and a scene which is automatically
  added to the window
    - loadDisplayModel create a group node for the robot and load visual
  geometries