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Created solver abstraction and implemented for the SolverDDP, SolverFDDP and SolverKKT

This PR makes the following changes:

  • Created a solver abstraction (i.e. SolverAbstract class) inside
  • Integrated this class into SolverDDP, SolverFDDP and SolverKKT classes.
  • Implemented setCandidate, models and datas inside SolverAbstract
  • Removed legacy variable b inside SolverDDP.forwardPass method. and it tackles issue #79 (closed).

@nmansard do you have any further suggestions? I believe that we could do more things but it might be premature in this phase.

Edited by Carlos Mastalli

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