Merge pull request #698 from gabrielebndn/topic/jacobians

benchmark/CMakeLists.txt

benchmark/timings-cg.cpp

benchmark/timings-cholesky.cpp

benchmark/timings-derivatives.cpp

benchmark/timings-geometry.cpp

benchmark/timings-jacobian.cpp

benchmark/timings.cpp

bindings/python/algorithm/expose-frames.cpp

bindings/python/algorithm/expose-jacobian.cpp

bindings/python/pinocchio/deprecated.py

bindings/python/pinocchio/robot_wrapper.py

src/algorithm/frames.hpp

src/algorithm/frames.hxx

src/algorithm/jacobian.hpp

unittest/frames.cpp

unittest/python/bindings_dynamics.py