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update the discretizer

Rohan Budhiraja requested to merge proyan/crocoddyl:devel into devel

Make discretizer and discretizerdata in the same way as the dynamics and cost. fx and fu are stored in the discretizer. the dynamics stores values which might help in calculation of fx and fu implement sparse multiplications for fx and fu with Vxx and Vx save temporary objects in ddpIntervalData.

Improves runtime.

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