Remove support of numpy.matrix class

Add example showing how to bind virtual classes, passing to overrides…

Add example showing how to bind virtual classes, passing to overrides by reference, registering shared_ptr, and overriding factories and data classes from Python

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/pre-commit/mirrors-clang-format: v16.0.0 → v16.0.1](https://github.com/pre-commit/mirrors-clang-format/compare/v16.0.0...v16.0.1)

Fix CI + sync submodule cmake

Add util to expose optional types

Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

for more information, see https://pre-commit.ci

+ unittest: make bind_optional and test_optional.py into template files
+ cmake: instantiate boost and std optional tests using configure_file

+ default is boost::optional<T>
+ add test for boost::optional

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/psf/black: 23.1.0 → 23.3.0](https://github.com/psf/black/compare/23.1.0...23.3.0)

fix INSTALL_RPATH on ROS & OSX

ref. https://github.com/stack-of-tasks/eigenpy/issues/353
ref. https://github.com/jrl-umi3218/jrl-cmakemodules/pull/588

Sync submodule cmake

CMake: have python stubs target depend on pywrap target

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/pre-commit/mirrors-clang-format: v15.0.7 → v16.0.0](https://github.com/pre-commit/mirrors-clang-format/compare/v15.0.7...v16.0.0)

Tests: add user-struct test

+ create struct with fixed-size members, expose with setter

Enable scalar template specialization