This PR tackles issue #242 (closed). However, it improved the library in many terms, e.g.
- Refactored the way of sharing memory with cost sum. Now it can be used for both differential action and action models.
vcurin differential action models. These variables are not needed by using properly Eigen.
- Introduced the concept of autonomous systems (nu = 0), note that impulse dynamics are autonomous systems.
- Changed notation of variables in contact and impulse models. It's compatible with impulses and easier to understand.
- Added function to update forces, accelerations (or next velocity) and their derivatives for using later in cost functions. This is ongoing work.
These functions is a partial works that handles #96 (closed).