Necessary to avoid travis time out trigger.

Follow the advice of gcc by casting directly with the proposed
CoeffBasedProduct template.
Makes gcc happy.
This patch was initially proposed by Florent Valenza but
with another type.

There is still an issue on ConstraintXd.
This commit *does not* compile is here for book-keeping.

Dev

[Major] Now handle prismatic joint when parsing urdf. Only cartesion X,Y or Z are accepted, unaligned axis bring crash

[Major] Correction of bugs in JointRevoluteUnaligned and its unittest. The urdf parser nows takes into account this joint. Added a new enum in cartesian axis

[Python][Major] Integrated modifications in Gepetto viewer that reference a window by id instead of string