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Solver

Carlos Mastalli requested to merge solver into devel

This PR request contain few improvements in the solver structure and its unit-test. The changes are:

  1. Armijo-like condition for acceptance the line search
  2. Comparison between DDP solution and KKT solution (unit-test)
  3. Using data.f for integration, instead of creating internally a data for it.
  4. Simple tuning of mu for Value-function regulation.

All the changes were tested in the set of unit-tests, and in the DDP problem with the manipulator and quadruped robots.

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