Move computations from ActionModelImpact to ImpulseModel6/3D

1. We should choose one of these names: Impulse, or Impact.
2. Currently ActionModelImpact is the equivalent of the IAM, and ImpulseModel6/3D are the equivalent of the DAM. However, the computations for rollout and derivatives are being done inside ActionModelImpact.

I'm moving them to the ImpulseModel6/3D instead, so the formulation is coherent.

This is related to #104 (closed)

changed the description

No, you mis-understood I think. ImpactModel is an action model, so similar to IAM, but in fact quite close to DAMFIC indeed: DAMFIC is at the differential level, but there is no such notion with the impact as it is instantaneous. ImpactActionModel is in fact what happen with DAMFIC if you push DT to zero but accept infinite forces (ie you kill any force that are not related to the contact: tauq, gravity, coriolis).

On the other hand, impulse-models are similar to contact-models.

Like for DAMFIC/forces, ImpactAM/impulse are sharing the computations: in ImpactAM you will find the KKT inverse, and in ImpulseModel you will find the jacobian computations.

We have several possible impulse models: 6D, multiple, 3D ... Later we could put rolling, edge, etc.

So please, do not regroup the computation in a single place.

removed on-going label

Yes, I was mistaken. Sorry for the noise, I'll close this now.

closed