[c++] Fix bug in TaskJointPosture: remove redefinition of member variable m_mask, which was already inherited from TaskMotion.

[c++] Fix bug in computation of position tracking error in TaskSE3Equality when expressing quantities in local frame.

[C++] Standardize names of methods to get and set mask in motion tasks. Add python bindings for setting/getting masks in TaskCOM and TaskSE3Equality.

[c++] Fix bug in TaskSE3Equality: when expressing task quantities in world frame there was a mistake in the transform of the position error from local to world frame. Switch from log6 to log3 to avoid coupling between orientation error and translation error, which made task mask not work properly.

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

Fix memory leaks by using std::shared_ptr<>

Fix warnings

Update package.xml for ROS release

tsid/src/tasks/task-motion.cpp: In member function ‘virtual const TrajectorySample& tsid::tasks::TaskMotion::getReference() const’:
tsid/src/tasks/task-motion.cpp:43:89: warning: returning reference to temporary [-Wreturn-local-addr]
     const TrajectorySample & TaskMotion::getReference() const { return TrajectorySample(); }
                                                                                         ^

tsid/src/tasks/task-motion.cpp: In member function ‘virtual const TrajectorySample& tsid::tasks::TaskMotion::getReference() const’:
tsid/src/tasks/task-motion.cpp:43:89: warning: returning reference to temporary [-Wreturn-local-addr]
     const TrajectorySample & TaskMotion::getReference() const { return TrajectorySample(); }
                                                                                         ^

Try to fix this warning :
tsid/src/tasks/task-capture-point-inequality.cpp:129:51: warning: conversion to ‘Eigen::Index {aka long int}’ from ‘double’ may alter its value [-Wfloat-conversion]
       m_constraint.setMatrix(Jcom.block(0,0,m_dim,m_nv));
                                                   ^~~~

Try to fix this warning:
tsid/src/tasks/task-capture-point-inequality.cpp:103:77: warning: unused parameter ‘t’ [-Wunused-parameter]
     const ConstraintBase & TaskCapturePointInequality::compute(const double t,
                                                                             ^
tsid/src/tasks/task-capture-point-inequality.cpp:104:68: warning: unused parameter ‘q’ [-Wunused-parameter]
                                                     ConstRefVector q,
                                                                    ^
/home/rascof/tsid/src/tasks/task-capture-point-inequality.cpp:105:68: warning: unused parameter ‘v’ [-Wunused-parameter]
                                                     ConstRefVector v,
                                                                    ^

Try to fix this warning:
tsid/tests/tasks.cpp: In member function ‘void tasksTest::test_task_joint_bounds::test_method()’: /home/rascof/tsid/tests/tasks.cpp:312:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] BOOST_CHECK(constraint.rows()==robot.nv()); ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ tsid/tests/tasks.cpp: In member function ‘void tasksTest::test_task_joint_posVelAcc_bounds::test_method()’: tsid/tests/tasks.cpp:364:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] BOOST_CHECK(constraint.rows()==robot.na()); ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~

Fix warnings

Fix warnings

If someone wants to maintain that, feel free to do so. But as gitlab CI
is maintained and passing, and travis has been broken for a long time,
while nobody takes care of it, let's just deactivate it.

Fix solver-HQP-base.hpp without virtual destructor.
Thanks to JB Mouret who reported the bug.
Fix #103

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