Split CRBA and centroidal algos

[C++] Add Jexp3 and Jexp6

Add new version of CRBA and clean a bit the CCRBA code

This is a minimal version of CRBA. It also computes for free the centroidal momentum matrix and the kinematic jacobians of all the joints.

Minor correction

[Minor] Remove an assert and add "Model.name" to Python.

Joseph Mirabel authored 6 years ago and Joseph Mirabel committed 6 years ago

* when path does not start with "file://" or "package://"

Python: expose FCL DistanceResult + fix some bugs

In SE(n) and SO(n), difference is exactly zero if operands are equal.

  difference between two equal configurations should be 0.

[Algo] Add additional signature for computeJacobians

Merge master commits into derivates branch

[LieGroup] Fix bug related to the Scalar product return type

This bug is appearing with Eigen3 >= 3.3.4.
The scalar product return type does not have an Options which is required by exp3.