It now takes Scalar and Options as input template parameters
To use other scalar types, one should use the new cast operator.
This initial commit allows to support of CPPAD in order to implement automatic differentiation inside Pinocchio
It now uses the motion action implemented in MotionPrismaticTpl
It now uses LLT decomposition for inverting D
This becomes mandatory for scalar overloading
This improves a lot the efficiency of model.jointPlacements[jointId] * jdata.M() operation!