[C++][FixBug][Unittest] Fix bug in calc_aba (bug with boost:fusion preventing a proper acces to jmodel.axis) + reworked unittest for joint prismatic unaligned

[C++][FixBug][Unittest] Reworked unittests for joint revolute unaligned + Fix bug in calc_aba (bug with boost:fusion preventing a proper acces to jmodel.axis)

Rework joints and algo

Rework joint free flyer and joint spherical to avoid useless allocations

Rework project

I don’k know why, but the default Eigen ProductReturnType produces
evaluation error. Maybe, because of destruction of the M matrix before
the evaluation.