Merge parts of proxsuite-nlp (manifolds and constraints) into aligator
#309
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+ Add `ManifoldAbstractTpl`, `VectorSpaceTpl`
+ Modifications wrt proxsuite-nlp:
add neutral_impl
rand_impl
Ported the following manifolds from proxsuite-nlp: + port pinocchio groups + port pinocchio multibody configuration & phase spaces + port tangent bundle [compat] update crocoddyl state manifold wrapper
…method suffixed with '_impl'
+ change macro define check
+ add boost::get_pointer() overload to bindings' fwd header
+ [python] re-expose the option enums and classes ourselves
…), adapt binding code around it
…port proxsuite-nlp anymore
…e_nlp.constraints
…morphic Add polymorphic value wrapper, remove dependence on `proxsuite-nlp` headers
+ rearrange some headers in polymorphic.hpp
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This pull request will make aligator independent of proxsuite-nlp.
Additional changes
Modifications with respect to
proxsuite-nlpManifoldAbstractTpl::randandManifoldAbstractTpl::neutralmember functions are now made protected and suffixed with_impl, to indicate the implementations are overridden in derived classesManifoldAbstractTpl::JintegrateTransport, split into (protected, virtual) implementation and actual APIis_pinocchio_lie_group<G>has been added, which checks ifGis a CRTP child of the CRTP base classpinocchio::LieGroupBaseOther changes
aligator/macros.hppheader was removed, as were the macrosALIGATOR_WITH_CPP_14andALIGATOR_WITH_CPP_17which are redundant (aligator officially requires C++17)aligator/python/macros.hppintoaligator/python/fwd.hppaligator/python/polymorphic-convertible.hpp(merged intoaligator/python/polymorphic.hpp)