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

Add contributions

[c++] Add asserts in RobotWrapper methods to check whether joint index and frame index are within bounds. Replace deprecated method pinocchio::framesForwardKinematics with its new version.

[python] Fix a few bugs introduced with recent changes to make ex_3 work with Talos and meshcat viewer.