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

Enhanced geometric parser, Geometry and use of Model::Index

[C++][Geom] GeometryData::collision_results is now a vector or CollisionResult ( struct holding infos about contacts)

[benchmark][cmake] Re added boost component. Needed by timings-geometry.cpp, and use correct name of algorithms

Enhance documentation + correct some bugs in Frame class

Enhance documentation + fix some bugs related to the new API