Replace with efficient composite terms computation
Replace with efficient composite terms computation

Replace computation of `composite_inertia` and `composite_beta` with
efficient methods. For `composite_inertia` calculation, method in
Appendix 8 of Khalil and Dombre is used. For `composite_beta`
calculation, the multiplication order of matrices are chosen to have the
least number of operations.

symoro/symoro,ELZo3/symoro,galou/symoro,galou/symoro,symoro/symoro,ELZo3/symoro