Adding a spline joint to the joint collection

[MegMll]

Description

In this PR, we introduce the new spline joint to pinocchio. This implementation is based on the paper of Lee et al. available here

It allows to define a number of SE3 frames, that will define the movement and dynamics of the joint. It's very useful for biomechanics, but can be used in other applications.

For now the joint configuration has to be bounded between 0 and 1, otherwise the transformation computation will fail.

To do

• Add better tests
• Remove the change in act-on-set.hxx
• Remove dynamic allocation in the bias computation
• use the reduce sum instead of the full sum over all control frames
• Make it casadi, cppad, cppadcg, boost::mpfr compatible
• add it to model-graph
• Need to redefine lieGroupType to avoid generating random numbers outside of bounds [0, 1]
• update changelog

Future

• Add a fit spline algorithm
• Introduce lower and upper bounds

[github-actions]

👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:

• build_collision (build Pinocchio with coal support)
• build_casadi (build Pinocchio with CasADi support)
• build_autodiff (build Pinocchio with CppAD support)
• build_codegen (build Pinocchio with CppADCodeGen support)
• build_extra (build Pinocchio with extra algorithms)
• build_mpfr (build Pinocchio with Boost.Multiprecision support)
• build_sdf (build Pinocchio with SDF parser)
• build_accelerate (build Pinocchio with APPLE Accelerate framework support)
• build_all (build Pinocchio with ALL the options stated above)

Thanks.
The Pinocchio development team.