Refactor KinDynComputationsParametric constructor to accept cs_type p…

…arameter

src/adam/parametric/casadi/computations_parametric.py

@@ -1,7 +1,7 @@
 # Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
-from typing import List
+from typing import List, Union
 
 import casadi as cs
 import numpy as np
@@ -24,6 +24,7 @@ def __init__(
         joints_name_list: list,
         links_name_list: list,
         root_link: str = "root_link",
+        cs_type: Union[cs.SX, cs.DM] = cs.SX,
         gravity: np.array = np.array([0.0, 0.0, -9.80665, 0.0, 0.0, 0.0]),
         f_opts: dict = dict(jit=False, jit_options=dict(flags="-Ofast")),
     ) -> None:
@@ -34,7 +35,7 @@ def __init__(
             links_name_list (list): list of the parametrized links
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
-        math = SpatialMath()
+        math = SpatialMath(cs_type)
         n_param_links = len(links_name_list)
         self.densities = cs.SX.sym("densities", n_param_links)
         self.length_multiplier = cs.SX.sym("length_multiplier", n_param_links)