Add CI for OSX

Fix warnings

fix:

CMake Warning (dev) at unittest/CMakeLists.txt:10 (ADD_LIBRARY):
  Policy CMP0115 is not set: Source file extensions must be explicit.  Run
  "cmake --help-policy CMP0115" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  File:

    …/eigenpy/unittest/eigen_ref.cpp
Call Stack (most recent call first):
  unittest/CMakeLists.txt:33 (ADD_LIB_UNIT_TEST)
This warning is for project developers.  Use -Wno-dev to suppress it.

ref. https://github.com/stack-of-tasks/tsid/pull/129

This reverts commit 3ae34565.

Expose boolean matrices

Fix init call order

This is due to a bug in Boost.Python

Add SWIG support

Handle support of template specialization for exposing new types

Move EIGENPY_MAKE_TYPEDEFS to a dedicated file

remove warnings

Boost 1.73 added a boring warning about deprecated use of boost bind,
which is still used by boost python.

As of Boost 1.75, this is still not fixed:
https://github.com/boostorg/python/pull/296
https://github.com/boostorg/python/pull/315

Recent CMake versions added this warning:
CMake Deprecation Warning at CMakeLists.txt:6 (CMAKE_MINIMUM_REQUIRED):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

And we are not compatible with CMake < 3.1:
ref https://github.com/jrl-umi3218/jrl-cmakemodules/issues/338

Comply with new CI rules

Sync submodule CMake