GitLab

Some functions working on Jacobian have been renamed:

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

- remove leftidx package, not available in MathJbx
- replace `\leftidx{^` by `{}^{`
- fix param lists
- comment documentation of commented code
- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

- remove leftidx package, not available in MathJbx
- replace `\leftidx{^` by `{}^{`
- fix param lists
- comment documentation of commented code
- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

It seems that Python does not support at the alignment level such reference.

This fix a bug in 16.10 and later with compiling issues

This fix a bug related to recent versions of GCC under 16.10 and more