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Momentum Cost and some other minor modifications

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

This PR:

  1. Creates a Momentum Cost, with the unittest
  2. Puts computation of centroidal dynamics inside DAMs
  3. Fixes activation of ActivationModelInequality at the point of equality
  4. Moves dependency to Pinocchio 2.1.3

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