* Added PINOCCHIO_ prefix to Pinocchio EIGEN_ macros

* Converted (most) SE3_ macros to PINOCCHIO_

* Removed assert.hpp

The previous se3 namespace is now deprecated but can still be used

Justin Carpentier authored Aug 24, 2018 and Justin Carpentier committed Oct 29, 2018

Because NAN is a float and may not be converted as it as a CppAD::AD<CppAD::cg::CG<T> > type

jcarpent authored Jul 16, 2018 and Justin Carpentier committed Oct 29, 2018

This templatization is mandatory for JointCompositeTpl

One should now use the LieGroup methods instead in order to use the previous methods or implement his or het own methods.

Added methods in joints and algorithm working on Model to determine if two configurations are equivalent

This new method give the increment for finite difference applications.

Most of the joints have bugs inside their methods - integration,
differentiate, interpolate.
A small remind that the joint velocity vector is generally expressed in
the joint frame while the translations are expressed in the joint
parent frame.