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locomotion module refactoring.

Rohan Budhiraja requested to merge proyan/crocoddyl:locomotion into devel
  1. Create a ContactSequenceWrapper, which contains the objects discussed in https://gepgitlab.laas.fr/loco-3d/multicontact-api/issues/6
  2. Separate the CentroidalPhi and EESplines classes. Doesn't depend on anything.
  3. Separate the polyfitND function wrapper. Depends on numpy only.
  4. Separate the multiphase problem definition which depends on crocoddyl.

The contactsequencewrapper class is a placeholder, untill https://gepgitlab.laas.fr/loco-3d/multicontact-api/issues/6 is solved.

Edited by Rohan Budhiraja

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