Rework Joint Planar + minor modifications

Remove conflicting license 

Add differentiate, integrate, random and distance methods to joints and algorithm to access it.

[C++][Doc] Removed random. Changed uniformySample into randomConfiguration + Updated doc of joint-configuration algorithms. + reindentation

[C++] Changed exp/log functions to work also with segment of segment of vector or block of block of matrix

[C++][Python] Added a new macro for algorithms that work only with joint models instead of joint models and joint datas. Modified python binding and API accordingly

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

[C++][unittest] Fixed dynamics unittest. Initialize jacobians variables to avoid undefined behaviours

Lambda is a reserved keyword

Expose local_frame bool in RobotWrapper's jacobian proxy

Tests with unittests & coveralls

Add forward dynamics with contacts algorithm 

[Python] Some propositions about Format & Tests