tests: fix a boost::shared_ptr

Partially Revert "make code robust to boost/std shared_ptr for fcl object"

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This partially reverts commit e9bd254f,
since we can now have std shared_ptr everywhere, there is no need to
break the API

basically revert #296 after https://github.com/stack-of-tasks/pinocchio/pull/1822

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- [github.com/pre-commit/mirrors-clang-format: v15.0.4 → v15.0.6](https://github.com/pre-commit/mirrors-clang-format/compare/v15.0.4...v15.0.6)

Spline steering method can take the desired path length as input.

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- [github.com/psf/black: 22.10.0 → 22.12.0](https://github.com/psf/black/compare/22.10.0...22.12.0)

tests: fix a boost::shared_ptr

make code robust to boost/std shared_ptr for fcl object

Expose spline steering method

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updates:
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- [github.com/PyCQA/flake8: 5.0.4 → 6.0.0](https://github.com/PyCQA/flake8/compare/5.0.4...6.0.0)

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[WIP] Use only noexcept for C++>=11

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Initial problem constraints with an empty ConstraintSet 

Explicit rt linking

Update to match new logic of cmake JRL submodule of deprecated with typedef