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- back to previous formulation : dyn(x,u); cost(x,xdes,u)
- add new model for actuator in torque control

in this case, thge solver doesn't use the 2nd order derivatives of the dynamics

previously QPBox only worked for single command system

[minor]new executable fo test QPBox

[minor]several modifications on class handle

This reverts commit 83f2990f.

the use of x and xDes was creating a computation problem
It is now necessary to use only x = xCurrent-xDes in DDP

Qt tmp