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Abstraction for the State classes

Carlos Mastalli requested to merge state-api into devel

This PR represents the first action regarding the creation of abstract classes for the core classes (reported here #74 (closed)). Here I have been focused on State classes, these are the tasks:

  • Created StateAbstract class and used for all State implementations (i.e. StateVector, StateNumDiff, StatePinocchio and StateUnicycle)
  • Added verbose documentation to the StateAbstract
  • Improved the documentation for the StateXXX classes.
  • Clean up code of State classes.
Edited by Carlos Mastalli

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