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Replace native boost code with MAL equivalent.
Use standard ADD_REQUIRED_DEPENDENCY for eigen instead of custom macro.
Remove warnings.
Remove errors and warnings.
Remove warnings due to wrong initialisation or unused variables.
Optimise the code in order to make test morisawa in jrl-walkgen package work.
Fix a division by zero at initialisation.
Merge branch 'topic/eigen' of github.com:jrl-umi3218/jrl-dynamics into topic/eigen