split Index into JointIndex, BodyIndex, FrameIndex GeomIndex

src/algorithm/center-of-mass.hxx

src/algorithm/collisions.hpp

src/algorithm/crba.hpp

src/algorithm/energy.hpp

src/algorithm/jacobian.hpp

src/algorithm/jacobian.hxx

src/algorithm/joint-limits.hpp

src/algorithm/kinematics.hpp

src/algorithm/non-linear-effects.hpp

src/algorithm/operational-frames.hpp

src/algorithm/rnea.hpp

src/multibody/geometry.hpp

src/multibody/geometry.hxx

src/multibody/model.hpp

src/multibody/model.hxx

src/multibody/parser/lua.cpp

src/multibody/parser/urdf.hxx

src/python/algorithms.hpp

src/python/frame.hpp

src/python/geometry-data.hpp