Merge branch 'devel' into 'devel'

Update to changes in curves/serialization

See merge request loco-3d/multicontact-api!12
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format Test
 typedef ContactSequence::ContactPhaseVector ContactPhaseVector;

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typedef pinocchio::SE3Tpl<double> SE3;

curve_ptr_t buildPiecewisePolynomialC2() {
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