replace jrl-mal with eigen

.gitignore

CMakeLists.txt

doc/Doxyfile.extra.in

include/CMakeLists.txt

src/col-piv-qr-solve-in-place.h

src/contact-selecter.h

src/controller-pd.cpp

src/controller-pd.h

src/dynamic-integrator.cpp

src/dynamic-integrator.h

src/feature-projected-line.cpp

src/feature-projected-line.h

src/mal-to-eigen.h

src/pseudo-robot-dynamic.cpp

src/pseudo-robot-dynamic.h

src/robot-dyn-simu.cpp

src/robot-dyn-simu.h

src/signal-helper.h

src/solver-dyn-reduced.cpp

src/solver-dyn-reduced.h