Summary
Problem in the euclidean state returned values and memory management
Steps to reproduce
See unit test of the cpp test_state.cpp
What is the current bug behavior?
The Euclidean state Jdiff and Jintegrate allocate memory.
The Euclidean state Jdiff and Jintegrate have bugs in the results (depending on the computation of the first, second or both)
What is the expected correct behavior?
The Euclidean state Jdiff and Jintegrate must NOT allocate memory.
Possible fixes
Modify the method from this file:
[https://gepgitlab.laas.fr/loco-3d/crocoddyl/blob/cpp_devel/src/core/states/state-euclidean.cpp](https://gepgitlab.laas.fr/loco-3d/crocoddyl/blob/cpp_devel/src/core/states/state-euclidean.cpp)