fix relative Jacobians #78
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BenjaminNavarro
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it is possible to construct relative Jacobians without any duplicated joints (e.g both chains end at root). Trying to remove joints in this case is undefined behavior
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It is possible to construct relative Jacobians without any duplicated joints (e.g both chains end at root). Trying to remove joints in this case is undefined behavior.
The added check catch this case and skip the joint removal