Implement exp and log map in C++ and expose them in Python. Still need some adjustments to be really efficient.

  * Implement exp3, exp6, log3, and log6 functions by copying
    implementation from explog.py.
  * Add same documentation as in explog.py.

[C++][Debug] Fixed operator * : Y*S in joint revolute unaligned

Topic/joint limits

[Major][C++] Added Joint limits to joint model and to Pinocchio Data. Also added an algorithm to compute joint limits. Based on the model of the limits, it computes and store the actual limits in Data. We then have access to the values in Data in python binding. The algorithm is here in future cases where the limits will not only be static but dependent of the configuration

Refactoring index, and fixing python "se3ToXYZQuat"

Fix bug in prismatic joint + add planar joint + add translational joint

[Major][Python] Fixing function se3ToXYZQUAT. Change method display in robot_wrapper according to this fix

Fixing inclusion of Lua and urdfdom whereas they were not found