The new algorithm computes also data.J to efficiently stored the
previous oSk motion space.

It also computes:
- Jcom directly (works also for robot without FF)
- Energetic terms

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