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Created abstraction for activation models and datas

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/action-abstraction into devel

This PR is tackling a subtask of issue #79 (closed). This is the list of changes:

  1. Created ActivationModelAbstraction and ActivationDataAbstraction classes.
  2. Added documentation to the class methods.
  3. Implemented all current activation models and datas using point 1.

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