Throw exception when parsing meshes instead of runtime error

Use same name to load urdf model with or without root joint

Explicitly overload buildModel functions to get the same name in the
exposure of functions.
Change of API: buildModelFromUrdfWithRoot and
buildModelAndGeomFromUrdfWithRoot are now replaced by their counterpart.

Start documentation using doxygen.

[unittest] refactored unit tests to locate precisely where the unit tests fail

Revert "Topic/extra frames"

Topic/extra frames

[C++][Fix Bug] Update function name according to the new API

Conflicts:

	CMakeLists.txt
	src/python/algorithms.hpp

[C++][Python][parser] Added extra_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint