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[states] Fixes #256. Remove global mutable variables from statemultibody class

Merged Rohan Budhiraja requested to merge proyan/crocoddyl:devel into devel

As reported in #256 (closed), there was a race condition occuring with the ddp solve. It turns out that it was because we defined data inside the state variables, and it was being accessed by multiple threads.

THis PR corrects this bug.

Edit:

  1. WIP status: As discussed, I'll make functions of state and actuation const.
  2. CI integration: to be dealt with by @cmastall
Edited by Rohan Budhiraja

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