Make JIT compilation of Jacobian algorithm independent from body index #17
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Before this PR, the computation of any link's Jacobian would trigger a JIT recompilation since the
body_index
argument had to be marked as static:The main reason was that the support body array$\kappa(i)$ has different length for different bodies (where $i$ is the body index).
This PR introduces a new way to compute the support body array$\kappa(i)$ passing through a boolean representation having fixed dimension. This update enables the Jacobian algorithm to be generic and its JIT compiled version remains valid for all link indices.