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Improvements on the DDP solver

Nicolas Mansard requested to merge nmansard/crocoddyl:topic/fddp into devel

This MR solves #90 (closed) and #127 (closed) . It also introduces a new DDP solver with a better feasibility phase, called FDDP. FDDP is a clone of DDP with some few modifications, but a much better behaviors in several experiments. This MR also introduces a new simpler biped example on which the FDDP has been mostly tests.

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