GitLab

- remove leftidx package, not available in MathJbx
- replace `\leftidx{^` by `{}^{`
- fix param lists
- comment documentation of commented code
- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

It seems that Python does not support at the alignment level such reference.

This fix a bug in 16.10 and later with compiling issues

This fix a bug related to recent versions of GCC under 16.10 and more

Useful when one does not known which robot will be loaded.

Call simply model.check(data)

[C++][unittest] Fix computations in jointcomposite::calc() + reworked unittest (comparison of R3xSO3 (either two joints with no inertia between them or Jointcomposite))

[C++] Removed default parameters for bounds when adding joint and created an overloaded method instead. Switched the order for addJoint method (put the default valued argument at last position)

[C++] Make JointComposite part of the JointVariant. Reoganized some include to avoid circular dependencies