KinDynComputations::inverseDynamics segfaults on inputs with wrong shape

[traversaro]

@fils99 was affected by this.

[traversaro]

He was using code like:

baseForceAndJointTorques = iDynTree.FreeFloatingGeneralizedTorques()
    # baseForceAndJointTorques = iDynTree.MatrixDynSize(6+dofs, 1);
    ok = dynComp.inverseDynamics(baseAcc, accelerations_joints[:, time_instant], linkExtForces, baseForceAndJointTorques);

[fils99]

My error was due to the fact I was using iDynTree.FreeFloatingGeneralizedTorques() and iDynTree.LinkWrenches() without giving them the model I was using.
The correct use of these classes is:

baseForceAndJointTorques = iDynTree.FreeFloatingGeneralizedTorques(dynComp.model())
linkExtForces = iDynTree.LinkWrenches(dynComp.model())

Thanks for the help, @traversaro !