Fix indentation and Jacobian initialization.
Fix indentation and Jacobian initialization.

The null components of a Jacobian SHOULD be set,
which was not the case of the previous commit.
The extra-part of the first columns [0-outOffset] are
left untouched.
The indentation of this package are set to emacs.

jrl-umi3218/jrl-dynamics,jrl-umi3218/jrl-dynamics