[c++] Fix bug in TaskSE3Equality: when expressing task quantities in world frame there was a mistake in the transform of the position error from local to world frame. Switch from log6 to log3 to avoid coupling between orientation error and translation error, which made task mask not work properly.

Add mask to task-com-equality
Authored-by: Pauline Maurice, Eloise Dalin @dalinel and JB Mouret @jbmouret 

Fix memory leaks by using std::shared_ptr<>

Fix warnings

Update package.xml for ROS release

tsid/src/tasks/task-motion.cpp: In member function ‘virtual const TrajectorySample& tsid::tasks::TaskMotion::getReference() const’:
tsid/src/tasks/task-motion.cpp:43:89: warning: returning reference to temporary [-Wreturn-local-addr]
     const TrajectorySample & TaskMotion::getReference() const { return TrajectorySample(); }
                                                                                         ^

tsid/src/tasks/task-motion.cpp: In member function ‘virtual const TrajectorySample& tsid::tasks::TaskMotion::getReference() const’:
tsid/src/tasks/task-motion.cpp:43:89: warning: returning reference to temporary [-Wreturn-local-addr]
     const TrajectorySample & TaskMotion::getReference() const { return TrajectorySample(); }
                                                                                         ^

Try to fix this warning :
tsid/src/tasks/task-capture-point-inequality.cpp:129:51: warning: conversion to ‘Eigen::Index {aka long int}’ from ‘double’ may alter its value [-Wfloat-conversion]
       m_constraint.setMatrix(Jcom.block(0,0,m_dim,m_nv));
                                                   ^~~~

Try to fix this warning:
tsid/src/tasks/task-capture-point-inequality.cpp:103:77: warning: unused parameter ‘t’ [-Wunused-parameter]
     const ConstraintBase & TaskCapturePointInequality::compute(const double t,
                                                                             ^
tsid/src/tasks/task-capture-point-inequality.cpp:104:68: warning: unused parameter ‘q’ [-Wunused-parameter]
                                                     ConstRefVector q,
                                                                    ^
/home/rascof/tsid/src/tasks/task-capture-point-inequality.cpp:105:68: warning: unused parameter ‘v’ [-Wunused-parameter]
                                                     ConstRefVector v,
                                                                    ^

Try to fix this warning:
tsid/tests/tasks.cpp: In member function ‘void tasksTest::test_task_joint_bounds::test_method()’: /home/rascof/tsid/tests/tasks.cpp:312:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] BOOST_CHECK(constraint.rows()==robot.nv()); ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ tsid/tests/tasks.cpp: In member function ‘void tasksTest::test_task_joint_posVelAcc_bounds::test_method()’: tsid/tests/tasks.cpp:364:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] BOOST_CHECK(constraint.rows()==robot.na()); ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~

Fix warnings

Fix warnings

If someone wants to maintain that, feel free to do so. But as gitlab CI
is maintained and passing, and travis has been broken for a long time,
while nobody takes care of it, let's just deactivate it.

Fix solver-HQP-base.hpp without virtual destructor.
Thanks to JB Mouret who reported the bug.
Fix #103

Add contributions

[c++] Add asserts in RobotWrapper methods to check whether joint index and frame index are within bounds. Replace deprecated method pinocchio::framesForwardKinematics with its new version.

[python] Fix a few bugs introduced with recent changes to make ex_3 work with Talos and meshcat viewer.