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WIP: Mpi/crocoddyl topic/action unittests

Closed Maximilien Naveau requested to merge (removed):mpi/crocoddyl-topic/action_unittests into cpp_devel

This is what happened:

  • add the action-num-diff.cpp
  • implement the test-action.cpp for all current action implementation
  • rename files to fit the states pattern: unycle.cpp -> action-unycle.cpp, etc.