It solves #674

* Added PINOCCHIO_ prefix to Pinocchio EIGEN_ macros

* Converted (most) SE3_ macros to PINOCCHIO_

* Removed assert.hpp

The previous se3 namespace is now deprecated but can still be used

jcarpent authored Jul 18, 2018 and Justin Carpentier committed Oct 29, 2018

There is no need of JOINT_VISITOR_INIT
The new JointVisitor allows to directly tackle both JointModel and {JointModel,JointData} runners.
The API is made simpler and ready for templated arguments.

Some functions working on Jacobian have been renamed:

- getJacobian is now getJointJacobian
- computeJacobians is now computeJointJacobians
- getJacobianTimeVariation is now getJointJacobianTimeVariation
- computeJacobiansTimeVariation is now getJointJacobianTimeVariation

It replaces the old way to access this frame through a boolean
templated parameter