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Activation inequality

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

This PR

  1. Creates an inequality activation and uses it to implement the joint limits on state.
  2. Uses activation for the CostModelState
  3. Is the result of the discussion on !65 (closed) and partially solves the comments raised in !65 (closed)
Edited by Rohan Budhiraja

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