Merge tag 'v3.3.1'

CMakeLists.txt

cmake

include/CMakeLists.txt

include/sot-dynamic-pinocchio/CMakeLists.txt

include/sot-dynamic-pinocchio/dynamic-pinocchio.h

src/CMakeLists.txt

src/angle-estimator.cpp

src/sot-dynamic-pinocchio.cpp

unitTesting/CMakeLists.txt