WIP: Resolve "Any contact type/number refactoring"

added 6 commits

754de25e...33b26f32 - 3 commits from branch devel
7bbf4e31 - WIP, any contacts
43f75f7e - Merge branch 'devel' into 5-any-contact-type-number-refactoring
92322070 - Implemented generalization of force torque preint to any number of contacts

added 41 commits

92322070...ef7d19da - 26 commits from branch devel
e07a3c90 - Adapted demo to new proc ftpreint parameters
41c42eaf - mcapi demo current state
41158cdf - Merge branch 'devel' of...
3e451e5d - Fixed char stateblock name in mcsapi demo
9aeac4f7 - Merge branch 'devel' into 5-any-contact-type-number-refactoring
87e6ffd9 - Debugginh in progress
f955b055 - Try different way to store traj, separated for loops
d7f6e4a8 - Merge branch 'devel' into 5-any-contact-type-number-refactoring
3a036df4 - Current tests
e001fe08 - Refactored mcapi demo for multileg, still fails on pureint
2d2e4811 - Multi body integration validated with non refactored mcapi demo cpp
247e1aa7 - Bug fix in ft capture kin data ordering: refactored code tested for 6D contacts
599ed5e8 - MCAPI demo pureint tested with solo sin traj
d985f0e4 - Fixed issue with leg odometry capture creation mcapi demo
99462aa5 - Fix force torque delta tools gtest uninitialized variable bug

added 1 commit

added 9 commits

f75edfff - 1 commit from branch devel
f3b1310d - Compute ALL covariances instead of particular ones because the latter does not...
95cfec15 - Quick fix for covariance computing issue: covariances computed too many times but works as intended
2e6c6227 - More realistic kf vote frequency
ae7fba0c - Experiment with modifying link inertia levers in pinocchio model to generate more realistic bias
2505ea19 - Try to apply distortion on each body link CoM position (pinocchio lever)
8254fdd9 - Merge branch 'devel' into 5-any-contact-type-number-refactoring
c1a8daa8 - Attempt to include cost computation in factor inertial kin and ft preint....
9b278c84 - Refactoring, difference between simulated and estimation noise, disturbance...

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