This feature mimics the Eigen checking of version

Update benchmark

Update function name when considering joint Jacobian

This provides some useful information for end users

Some functions working on Jacobian have been renamed:

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

[LieGroups] Replace Jintegrate by dIntegrate_dq and dIntegrate_qv

Split CRBA and centroidal algos

[C++] Add Jexp3 and Jexp6

Add new version of CRBA and clean a bit the CCRBA code