* Added PINOCCHIO_ prefix to Pinocchio EIGEN_ macros

* Converted (most) SE3_ macros to PINOCCHIO_

* Removed assert.hpp

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

Differentiate was not the right term as it is devoded to differential calculus.
This is related to #432.

  - This is necessary to correctly implement random sampling in dynamic-sized
    vector space.

[C++] Make JointComposite part of the JointVariant. Reoganized some include to avoid circular dependencies

Added methods in joints and algorithm working on Model to determine if two configurations are equivalent

[C++][Doc] Removed random. Changed uniformySample into randomConfiguration + Updated doc of joint-configuration algorithms. + reindentation

[C++][Python] Added a new macro for algorithms that work only with joint models instead of joint models and joint datas. Modified python binding and API accordingly

[C++][Python] Added algorithm working with joint configurations ( integrate, differentiate, interpolate, random, uniformlySample, distance), their python bindings and unittest