[C++][Python] Removed references to kinematic model/data in geometry model/data. + fixed unallocated memory map ( due to using reserve keyword instead of resize)

[C++][Python] Remove dependency on SRDF parser in Geometry Model and Data. Updated Python interface accordingly

[C++] Removed type from GeometryObject. Still using the enum GeometryType to specify if visuals or collisions must be parsed from urdf file

Fix CMake when compiling with hpp-fcl without Python.

[CMake] Compilation without python

Moved assimp module in hpp-fcl

Conflicts:

	CMakeLists.txt

Topic/neutral config

[C++] Rename spatial scalar type to follow Eigen convention.

* Rename Scalar_t to Scalar.
* This allows applying Eigen-compatible template operations to
  se3::spatial objects.

[C++][unittest] Added neutralConfiguration vector in Model, and fill it when adding joints + test on neutralConfiguration

Expose the Joint (Model,Data)  Variant methods via the generic Joint(Model,Data).

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

Conflicts:

	CMakeLists.txt

[C++] The stack of joints model & data is now of type joint accessor ( i.e the derived types are encapsulated in a generic joint accessor

Conflicts:

	src/multibody/model.hpp

[Minor] Update name in Data of oMof to oMf + in frames algo get directly the value of the parent joint when the relative placement of the frame wrt parent joint is Identity

Move frame to multibody + add updateKinematics option in com jacobian algo

Add python model parsing from #194