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Efficient computation of Jdiff

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/Jdiff-computation into cpp_devel

this PR I included a tailored efficient computation of Jdiff based on Jintegrate #223 (closed). This method improves the computation performance. Additionally, this PR includes few changes that removed Eigen memory allocation; further improvement are needed against latest version of Eigen.

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