Remove dynamic allocations

I think I've removed all dynamic memory allocations.

The only entities where I know there are allocations but which I did't modify are SimplePID and SimplePIDD, because we do not use them and we will probably remove them.

Also, I did not thoroughly verify NdTrajectoryGenerator, but I trust it is good.

Finally, I modified FtWristCalibration and AdmittanceControllerEndEffector to remove the allocations I was able to spot, but I did not test them rigorously because I found no unit tests and I do not have time to make them (also, they are not in the main control scheme). Anyhow, they should be fine now