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[action] Addded actuation to DAMFreeFwdDynamics

Pep Marti Saumell requested to merge jmarti/crocoddyl:DifferentialActionModelFreeFwdDynamics_overloaded into devel

Current behavior: The DAMFreeFwdDynamics (DAMFFD) assumes that the actuation model is the fully actuated one.

Desired behavior: Pass the actuation model to the DAMFFD as a parameter in the constructor.

Edited by Pep Marti Saumell

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