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Added the contact 3d + fixed two bugs in 18.04

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/cpp-contact into cpp_devel

This PR includes the contact abstraction and its 3d case (c++ code, Python bindings and its unit-test) #215 (closed). Additionally it solved a couple of compilation bugs in 18.04 #221 (closed) #186 (closed). Other tasks are:

  1. Removed dynamic memory allocation in ContactModel3D and partially in StateMultibody.
  2. Added explicit constructor in the corresponding cases.
  3. Written a proper guard for binding headers.
  4. Used unsigned int cons& instead of const unsigned int&.
  5. Simplified the overload methods (Python bindings) for the calc functions.

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