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ncost argument for 3d CostModelForce

Carlos Mastalli requested to merge cmastall/crocoddyl:topics/3d-cost-model-force into devel

As suggested in #132 (closed), I introduced the ncost argument in the CostModelForce constructor. It values by default is 6, which correspondence to 6d contacts.

By passing ncost=3, the user is able to model 3d contact forces. General cases need to be tackled later.

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