Reborn

Getting old is great, getting young is even better! Biorbd has now the wisdom of a sage embodied is a brand new youth code.

This revamping of the code is a major rewrite of biorbd. I got rid of the legacy architecture to create a better one based on module, with the unfortunate adverse effect of completely breaking backward compatibility. On the bright side though, compiling biorbd is almost 3x faster, and the code itself is also twice as fast from the previous version.

So fasten your seat belt, make some minor changes to your code and get ready for a fast biorbding!