Pin

This new release provides:
- improvements on the whole project coverage
- better support of Windows v142
- support of joint friction and damping (only at the interface level)
- new algorithm to retrieve the Coriolis matrix from RNEA/ABA derivatives

In this new release, we have:
- a full memory shared in the Python bindings, i.e. that all the Eigen object can now be changed in Python.
- better handling of multiprecision arithmetic
- improved CMake packaging
- fix for Autodiff

This new release provides:
- an extended API for dealing with Lie groups and the related computations (integration, difference, derivatives, etc.)
- the Lie groups have now their Python bindings for easy code prototyping
- the kinematics derivatives of the Frames have been introduced as well as the extension of current Joints derivatives
- the packaging of the project has been improved too.

This new release of Pinocchio removes the use of pkg-config to check dependencies and provides a full compatibility and support for Windows systems.

This new release extends the current frames algorithms to also consider the LOCAL_WORLD_ALIGNED reference frame.
It also exposes the values of the enum_ for simplified usage.

This new release provides:
- new helpers function to retrieve frame velocities and accelerations
- for each collision pair, it is now possible to provide specific collision checking settings
- support to display convex hulls in viewers

It also fixes:
- the support of Panda3d

and enhances the global CMake packaging of the project.