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c++ implementation and bindings of `StatePinocchio` + compatibility with c++00

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/cpp-state-pinocchio into cpp_devel

In this PR I have tackled the issues #178 (closed), but since Pinocchio is installed by binaries in the CI this also required to:

  • Modified the code in order to be compatible with c++00.
  • Disable by default the vectorization option.

Additionally, I decided to renamed the StatePinocchio class to StateMultibody since we don't plan support for other software.

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