Fix for Inertia matrix, matlab functions

Now Inertia matrix is generated for more than 24 links,
Element-wise initialization of result in matlab generated function
Merge remote-tracking branch 'origin/floating' into geom_revamp
Fix loop solving issue

Small fix in symbol manager
Merge remote-tracking branch 'origin/floating' into geom_revamp
Fix for Inertia matrix, matlab functions

Now Inertia matrix is generated for more than 24 links,
Element-wise initialization of result in matlab generated function
Fix loop solving issue

Small fix in symbol manager
Fix errors found using pylint
Fix bugs in IDyM

Fix computation of beta_0 term bug.
Fix `TypeError` bug when summing Matrix with string.
IGM fix

IGM works for less than 6 DoF
Merge branch 'geom_revamp' into floating