Add a vectorized version of MotionVec::cross and crossDual.
Add some doc and optimize cross and crossDual operator.
Allow to use Eigen matrix type as MotionVec in RBInertia and ABInertia.
Allow to use Eigen matrix as MotionVec and ForceVec in PTransform.
Avoid to use colwise.cross method that make some allocation.
Fix test name.
Add benchmark for PTransform.
Fix inlining.
PTransform can just compute the angular/linear couple/force of his multiplication with a Force/Motion vector.