[Minor] Update name in Data of oMof to oMf + in frames algo get directly the value of the parent joint when the relative placement of the frame wrt parent joint is Identity

There were some bugs in the algo + rename framesForwardKinematic in
framesForwardKinematics (follow the API)

[C++][unittest] Reworked computations of frame Jacobian in global frame. Reworked unittest. Change argument from Matrix6x to MatrixXd to follow getJacobian convention