Enhanced geometric parser, Geometry and use of Model::Index

[C++][Geom] GeometryData::collision_results is now a vector or CollisionResult ( struct holding infos about contacts)

[benchmark][cmake] Re added boost component. Needed by timings-geometry.cpp, and use correct name of algorithms

Enhance documentation + correct some bugs in Frame class

Enhance documentation + fix some bugs related to the new API

Add missing inline

  - fcl::Transform3f toFclTransform3f(const se3::SE3 & m),
  - se3::SE3 toPinocchioSE3(const fcl::Transform3f & tf).

Set default SINCOS for architecture with no sincos function