Improve 'make_vars' and 'internal' methods

Issue #82 resolved
Pierre Denis repo owner created an issue

The make_vars method should be improved so to avoid passing a dictionary at each call. A dictionary like globals() should be passed once for all by a new dedicated function. The make_vars could even be removed, enhancing the as_joint method.

After this is done, the internal method could be upgraded to display variable names, upon request.

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