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Fixed Box-QP + removed unnecessary virtual functions in SolverDDP and SolverBoxDDP

Closed Carlos Mastalli requested to merge cmastall/crocoddyl:topic/fix-box-ddp into devel

The BoxDDP was not running in computer because we need to defined the dimension of H_inv. This is a quick fix, however we need to work properly on the Box-QP and to add an abstract for QP solvers.

@wxmerkt could you review this PR?