ref https://github.com/stack-of-tasks/sot-core/issues/58

[CI] Update .gitlab-ci.yml for v3

This reverts commit 292cbff2797a240007f293abfb6bfc66c5de5ab4.

 [CI] add .gitlab-ci.yml 

This allows to do 'print solver' in the python interface.
The 'dispTask' method is kept for transition purpose.

Again, for homogeneization purposes.

Use the dedicated macro to this purpose.
The error came from the fact that the method was not declared
as const. The consequences were that the following python orders
were possible:

mytask = TaskInequality ('mytask')
mytask = Task ('mytask')

The second line should crash but doesn't, because the method getClassName
called is the one of the mother class.

They have been moved in sot-dynamic/sot-pattern-generator.

[skip ci]

Those scripts are now in sot-pg and sot-dynamic.

There is meta_task_dyn_passing_point to help in the initialization
of this task

Define MetaTaskDynLimits to handle the joint limits in the
dynamic solver. The gain is arbitrarily set.

Modified function name and command to set second order kinematics in order to uniform it to Device::setSecondOrderIntegration