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First version of the DDP structure

Carlos Mastalli requested to merge devel into master

This PR reflects the first version of the DDP structure but all cases and unit-test are working. It still doesn't exploit efficiency from static functions and there are redundant computations for the dynamics and cost.

@rbudhira As discussed yesterday, I will merge this first attend of the DDP structure. It would help us to do further comparisons and debugging of the ongoing structure.

Edited by Carlos Mastalli

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