[C++] Throw an exception when joint or inertia information are missing
[C++] Throw an exception when joint or inertia information are missing

aelkhour/pinocchio,aelkhour/pinocchio,fvalenza/pinocchio,fvalenza/pinocchio,aelkhour/pinocchio,aelkhour/pinocchio,fvalenza/pinocchio,fvalenza/pinocchio