algo: use new actInv of SE3 on Constraint

src/algorithm/aba.hxx

@@ -135,10 +135,9 @@ namespace pinocchio
         
         typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix6Type) ReturnType;
         
-        const SE3 Minv = M.inverse();
         typename SE3::ActionMatrixType dual_action_matrix(M.toDualActionMatrix());
-        typename SE3::ActionMatrixType action_matrix(Minv.toActionMatrix());
-        ReturnType intermediate_result(dual_action_matrix*I);
+        typename SE3::ActionMatrixType action_matrix(M.toActionMatrixInverse());
+        ReturnType intermediate_result = dual_action_matrix*I;
         ReturnType res = intermediate_result*action_matrix;
         return res;
       }

src/algorithm/jacobian.hxx

@@ -189,7 +189,7 @@ namespace pinocchio
       data.iMf[parent] = data.liMi[i]*data.iMf[i];
       
       Matrix6xLike & J_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike,J);
-      jmodel.jointCols(J_) = data.iMf[i].inverse().act(jdata.S()); // TODO: overload actInv
+      jmodel.jointCols(J_) = data.iMf[i].actInv(jdata.S());
     }
   
   };

src/multibody/joint/joint-composite.hxx

@@ -46,7 +46,7 @@ namespace pinocchio
         const int idx_v = model.m_idx_v[i] - model.m_idx_v[0];
 
         data.iMlast[i] = data.pjMi[i] * data.iMlast[succ];
-        data.S.matrix().middleCols(idx_v,model.m_nvs[i]) = data.iMlast[succ].inverse().act(jdata.S()); // TODO: avoid computing inverse
+        data.S.matrix().middleCols(idx_v,model.m_nvs[i]) = data.iMlast[succ].actInv(jdata.S());
       }
 
     }
@@ -112,7 +112,7 @@ namespace pinocchio
         const int idx_v = model.m_idx_v[i] - model.m_idx_v[0];
 
         data.iMlast[i] = data.pjMi[i] * data.iMlast[succ];
-        data.S.matrix().middleCols(idx_v,model.m_nvs[i]) = data.iMlast[succ].inverse().act(jdata.S()); // TODO: avoid computing inverse
+        data.S.matrix().middleCols(idx_v,model.m_nvs[i]) = data.iMlast[succ].actInv(jdata.S());
 
         typename JointModelComposite::Motion v_tmp = data.iMlast[succ].actInv(jdata.v());