Modification of API in creation of operational point and jacobian signals.

     * include/sot-dynamic/dynamic.h,
     * src/dynamic.cpp:
       - Dynamic::createEndeffJacobianSignal,
       - Dynamic::createJacobianSignal,
       - Dynamic::createPositionSignal,
       - Dynamic::createVelocitySignal,
       - Dynamic::createAccelerationSignal
       now take a pointer to CjrlJoint instead of a rank in a joint vector.
       Warning: Dynamic::commandLine is broken.