[C++] Use Eigen STATIC ASSERT to throw assert at compile time

src/algorithm/compute-all-terms.hpp

src/algorithm/crba.hxx

src/multibody/constraint.hpp

src/multibody/joint/joint-prismatic-unaligned.hpp

src/multibody/joint/joint-revolute-unaligned.hpp

src/spatial/force.hpp

src/spatial/symmetric3.hpp