[C++][eigen] Remove call to eigen method hasNaN to ensure compatibility with eigen 3.0.5. Provide our own implementation

[C++][Python] Added algorithm working with joint configurations ( integrate, differentiate, interpolate, random, uniformlySample, distance), their python bindings and unittest

  * Implement exp3, exp6, log3, and log6 functions by copying
    implementation from explog.py.
  * Add same documentation as in explog.py.