- This is necessary to build with older compiler versions.
  - The keyword typename must only be used in template declarations
    and definitions and only in contexts in which dependent names can
    be used. This excludes explicit specialization declarations and
    explicit instantiation declarations (until C++11).

Add computation of CoM position, velocity and accelerations + minor ajustements

Topic/mac compatibility

[C++] Add com information in data + compute position, velocity and acceleration of CoM in the same loop + add related unittest

Implement exp and log map in C++ and expose them in Python. Still need some adjustments to be really efficient.

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

[C++][Debug] Fixed operator * : Y*S in joint revolute unaligned

Topic/joint limits

[Major][C++] Added Joint limits to joint model and to Pinocchio Data. Also added an algorithm to compute joint limits. Based on the model of the limits, it computes and store the actual limits in Data. We then have access to the values in Data in python binding. The algorithm is here in future cases where the limits will not only be static but dependent of the configuration