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

Some functions working on Jacobian have been renamed:

- getJacobian is now getJointJacobian
- computeJacobians is now computeJointJacobians
- getJacobianTimeVariation is now getJointJacobianTimeVariation
- computeJacobiansTimeVariation is now getJointJacobianTimeVariation

It replaces the old way to access this frame through a boolean
templated parameter

[unittest][aba] check aba with external force
[bindings][aba] create binding for aba with ext force

To comply with OpenNao and its BOOST version, the BOOST_TEST_MODULE
must be used as TEST_SUITE name

Renamed JointXXAccessor to JointXX + renamed traits<D>::JointData to traits<D>::JointDataDerived, same for Model.

Conflicts:

	CMakeLists.txt
	src/algorithm/center-of-mass.hxx
	src/multibody/model.hpp
	unittest/CMakeLists.txt

Revised the unitests, added some doc and created a "check" compilation rule. All unitests passed ok.