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Adding general quadratic cost function in DAMLQR

Carlos Mastalli requested to merge cmastall/crocoddyl:topics/dam-lqr into devel

I added the gradient terms of a general quadratic cost function for the DAMLQR class. As a consequence, the noise level has changed and this is the reason why I have to find new tolerance values inside

However this assert isn't passing: assert( norm(Luu0-data.Luu) < 1e3*mnum.disturbance). Why?

@proyan @nmansard -- could you explain what it's happening here? Do you think there is a bug in IAMRK4?

Edited by Carlos Mastalli

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