[tasks] Input argument checks

src/tasks/task-actuation-bounds.cpp

src/tasks/task-actuation-equality.cpp

src/tasks/task-angular-momentum-equality.cpp

src/tasks/task-capture-point-inequality.cpp

src/tasks/task-com-equality.cpp

src/tasks/task-contact-force-equality.cpp

src/tasks/task-cop-equality.cpp

src/tasks/task-joint-bounds.cpp

src/tasks/task-joint-posVelAcc-bounds.cpp

src/tasks/task-joint-posture.cpp

src/tasks/task-se3-equality.cpp