GitLab

[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

Some functions working on Jacobian have been renamed:

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

It now only returns the Jacobian of the FRAME expressed in the local
coordinate frame of the FRAME itself.