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Removed memory allocation in SolverDDP + few other efficiency improvements

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

In this PR I mainly tackle the issue of dynamic memory allocation in SolverDDP #218 (closed). This memory allocation comes from the fact that Eigen needs to create temporal objects for computing an expression. Additionally I did the following tasks:

  • Remove an useless if-loop in SolverDDP
  • Substitute std::endl by '\n' in CallbackVerbose
  • Formatted the code

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