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[CI][test action] introduce the unicle action model test

Maximilien Naveau requested to merge (removed):mpi/crocoddyl-topic/unit-test-all-available-action-models into devel

What has been done

  • Found a better way of dealing with multiple types in a unit-test
  • Add the ActionModelUnycle unit-test

What is next

  • Use the same principle of the factory for all other unit-test that require polymorphism testing

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