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Add mask to task-com-equality
Authored-by: Pauline Maurice, Eloise Dalin @dalinel and JB Mouret @jbmouret 

Following https://github.com/stack-of-tasks/pinocchio/pull/1220, some
Data can't be const anymore.

This commit just removed const until compilation succedded again.

It is a good practice to remove all warnings to:
1/ ease the reading when implementing a new functionnality.
2/ avoid nasty bugs due to the version of the compiler fixing coding
mistakes in a different way.

[task-com-equality] Fix little bugs in methods to get pos/vel references and errors, and in method to get desired acceleration

Add com-equality-task. Add unit tests for com-equality and se3 tasks. Add functions to compute pseudo-inverses.