The joints of interest are now passed in the python interface.
Update python script for full expression graph.
Replace 'Check' by an exception handling mechanism.
Factorize the code, remove useless comments.
Avoid useless recomputations.
 Correct handling of the distance as a parameter.
Cleanup the unit test for exp graph full.
The distance computation method can be templated and removed for the class.

Also, remove using namespace for header.