Set default SINCOS for architecture with no sincos function

Add notion frame and handle fix frame in URDF throw operational frame data

[C++] Check existence of frame before accessing it in Model. Factorisation of code. If the frame does not exist, in release mode we return an undefined value. No check is done on runtime

[C++][unittest] Reworked computations of frame Jacobian in global frame. Reworked unittest. Change argument from Matrix6x to MatrixXd to follow getJacobian convention

[C++][Frame] Moved the generation of random string in a new file. Modified the default constructor of frame to produce unique frame (as long as the random strings generated are unique)

[C++][Python] Added missing setters of Frames exposed in python, addFrame now returns a bool depending on the succes of the insertion of the new frame in the operational_frames vector

Conflicts:

	CMakeLists.txt
	src/python/algorithms.hpp

[C++][Python][parser] Added operational_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint

By default, one can now build the benchmarks from make timings. They
are build along with the lib if BUILD_BENCHMARK is set to ON.

Continue python integration of geometry methods and algo

Follows the standard of computeDistance

Choose an explicit name to describe what the algorithm effectively does

Properly handle the geometry data struct