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add unittesting for state with freeflyer

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

I added unittests for the state with free-flyer. This PR closes #143 (closed).

An observation: I don't really understand why we are doing these complicated tests to verify Jdiff. A unittest should be simple and intuitive, but test_velocity_from_JIntegrate_jdiff is not. Nevertheless,

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