Implement time derivative of the centroidal momemtum matrix

Fix bug in parser urdf + add copy constructor in VectorSpaceOperation

  - in function addJointAndBody, when add frame with name joint_name, if the
    joint already exists, method Model::addJointFrame returns -1. This event was
    not detected leading to undefined behavior.
  - this commit detects this error and throws an exception.

Add algo to compute [inefficiently] the time variation of the joint jacobian

In exp3, modify assertion

Lie group operation struct are aware of the dimension of the element they manipulate

  Previous implementation did not accept a vector of dynamic size of size 3.
  This commit fixes the issue.

  - This is necessary to correctly implement random sampling in dynamic-sized
    vector space.

  - VectorSpaceOperation <-1> corresponding to operations on dynamic size
    vectors now handles vectors of given size.

Handle the new convention for quaternion representation with the viewer

Minor fix of bugs with c++11

[Python] Added static method in geometry API to create a capsule object