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[Major][cpp] Add matrix conversion fonctions + test RNEA from pinocchio

Merged [Major][cpp] Add matrix conversion fonctions + test RNEA from pinocchio
flforget:dev into dev
Merged Guilhem Saurel requested to merge flforget:dev into dev

Created by: flforget

_ uncomment *.old lines to follow implementation process

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Merged by avatar (Mar 13, 2025 8:35pm UTC)

Merge details

  • Changes merged into dev with ce828bd9.
  • Deleted the source branch.

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