Replace calls to updateTransformation by computeForwardKinematics.

 * CjrlJoint::updateTransformation () is not functionning anymore in
   jrl-dynamics. This method will probably be removed from the
   interface alltogether.
 * Use CjrlDynamicRobot::computeForwardKinemtics (), the downside
   being that all joints transformation will be updated instead of a
   subset of the joints. No significant loss of performance noticed.
Set default mask to whole-body mask when computing weights.

  * This allows taking into account upper body tasks.