Common computation

[jorisv]

Add a way to share common computation between Costs, Dynamics and constraints.

• [x] Base data structure
• [x] Base data structure tests
• [x] Dynamics/Costs/Constraints API update
• [x] Stage integration
• [x] Add configure/retrieve to all costs
• [x] Slover integration
• [x] configure constness
• [ ] First Model (MultibodyConstraintFreeFwd)
  • [x] MultibodyConstraintFreeFwd
  • [x] ResidualModelContactForceTpl
  • [x] Bindings
  • [ ] Test
• [x] Explicit template instantiation
• [x] Add python binding
• [x] Debug crocoddyl unit tests
• [x] Manage Python CommonModelBuilder in CommonModelBuilderContainer
• [x] Manage Python CommonModelData in CommonModelDataContainer
• [x] Add configure and modify createData in Python bindings
• [x] Add some tests
• [x] Patch rollout
• [x] Fix ODE binding
• [x] Remove createDataWithCommon
• [ ] Fix DEBUG build
• [x] Fix rebase
• [ ] Add a way to retrieve the CommonModel (or just a ptr in data) ?
• [ ] Discussion : createData turn model into a factory, then Model can old data that is used to create Data
• [x] Howto fix IntegratorMidpoint and IntegratorRK2 ?
• [ ] Pass parameter to IntegratorBuilder ?
• [ ] Pass right X/U vector to Model in DirectSumExplicitDynamicsTpl
• [ ] ContactReference -> RigidConstraintModelLayout (toutes les forces)

Resolves #119 (we use C++17 features for convenience) Resolves #79

[ManifoldFR]

@LudovicDeMatteis this pr might interest you

[ManifoldFR]

Status as of today:

Right now, there is a question of about how we are supposed to handle multiple common objects being required for computation, e.g. in numerical integrators.

For instance in RK2, we need a mechanism to get two instances of the underlying common data for the ODE.