[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

Add missing inline

  - fcl::Transform3f toFclTransform3f(const se3::SE3 & m),
  - se3::SE3 toPinocchioSE3(const fcl::Transform3f & tf).

Set default SINCOS for architecture with no sincos function

Add notion frame and handle fix frame in URDF throw operational frame data

[C++] Check existence of frame before accessing it in Model. Factorisation of code. If the frame does not exist, in release mode we return an undefined value. No check is done on runtime

[C++][unittest] Reworked computations of frame Jacobian in global frame. Reworked unittest. Change argument from Matrix6x to MatrixXd to follow getJacobian convention