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Used solveInPlace in Cholesky decomposition for SolverDDP

This is a needed modification in order to improve efficiency. This point was raise by @jcarpent in comment: https://gepgitlab.laas.fr/loco-3d/crocoddyl/merge_requests/191#note_5761.

Additionally, I changed "\n" by '\n' as suggested by @jmirabel.

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