[Algo] Add check of data consistency wrt model

src/algorithm/aba.hxx

src/algorithm/center-of-mass.hxx

src/algorithm/cholesky.hxx

src/algorithm/compute-all-terms.hpp

src/algorithm/copy.hpp

src/algorithm/crba.hxx

src/algorithm/dynamics.hpp

src/algorithm/energy.hpp

src/algorithm/frames.hpp

src/algorithm/geometry.hxx

src/algorithm/jacobian.hxx

src/algorithm/kinematics.hxx

src/algorithm/rnea.hxx