Thanks https://github.com/bchretien/choreonoid/commit/709d7db596f3e9ef4793f944a761fe2a35bca133

[C++] Fix multiple definition errors

[frames] Helper functions for frames

[script/robot_wrapper] add momentum function

[script/robot_wrapper] add momentum function. add vcom and acom to separately compute the quantities

update README

Frame Jacobian Time Variation

[bindings/framejacobiantimevariation] add a function framesJacobianTimeVariation in the groove of framesJacobian that also calls compute and fk.

[algorithm/frames] add getFrameJacobianTimeVariation in the same groove as getJointJacobianTimeVariation

[algorithms][DEPRECATED] make getFrameJacobian as deprecated. getFrameJacobian<referenceframe> already exists.

[minor][robot_wrapper] frameClassicAcceleration requires numpy

Fix bug related to new version of Eigen 3.3.5

Uniformization of git history between master and devel branches

And then change name of internal ADD_UNIT_TEST to ADD_PINOCCHIO_UNIT_TEST

Merge current devel branch into master for continuous git history.
Only commits on branch devel have been kepts, devel branch being the most advanced one.

Fix bugs in exp6