Inverse dynamics

[Ipuch]

This change is 

[codecov]

Codecov Report

Patch coverage: 91.10% and project coverage change: +1.09 🎉

Comparison is base (2d25f35) 82.31% compared to head (bfed8fc) 83.41%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #72      +/-   ##
==========================================
+ Coverage   82.31%   83.41%   +1.09%     
==========================================
  Files          55       56       +1     
  Lines        4174     4353     +179     
==========================================
+ Hits         3436     3631     +195     
+ Misses        738      722      -16     

Impacted Files	Coverage Δ
bionc/bionc_casadi/biomechanical_model.py	97.02% <83.72%> (-2.54%)	⬇️
bionc/bionc_numpy/biomechanical_model.py	96.80% <83.72%> (-2.37%)	⬇️
bionc/bionc_casadi/natural_segment.py	81.94% <90.90%> (+0.69%)	⬆️
bionc/bionc_casadi/external_force.py	89.33% <93.10%> (-1.58%)	⬇️
bionc/bionc_numpy/external_force.py	89.33% <93.10%> (-1.44%)	⬇️
bionc/protocols/biomechanical_model.py	91.73% <94.11%> (+0.06%)	⬆️
bionc/protocols/external_force.py	96.29% <96.29%> (ø)
bionc/bionc_casadi/natural_coordinates.py	87.91% <100.00%> (+0.96%)	⬆️
bionc/bionc_numpy/natural_coordinates.py	89.65% <100.00%> (+0.84%)	⬆️
bionc/bionc_numpy/natural_segment.py	93.36% <100.00%> (+0.24%)	⬆️
... and 1 more

... and 2 files with indirect coverage changes

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[Ipuch]

Still need some tests. :)
@ANaaim linear-time inverse dynamics on its way.