[LinearSystem] Introduce components to map matrices

[alxbilger]

In some simulations relying on mappings, a computation intensive task is the product J^T * K * J (including the computation of J). To offer the user a choice of strategy regarding the way to compute this product, I introduce a component MatrixMapping. This component is optional in a scene. If not present, it will be created automatically with a generic-purpose strategy, i.e. the one already implemented.

In order to illustrate the options given to the user, I already added a Data to consider the mapping Jacobians to be constant. For example, it is true for ModelOrderReductionMapping. In the future, maybe this property can be defined automatically. I benchmarked the reduced diamond robot over 1000 time steps (the previous benchmark is in #4443):

Before

[INFO]    [BatchGUI] 1000 iterations done in 17.4661 s ( 57.2539 FPS). 
 LEVEL   START    NUM      MIN     MAX   MEAN     DEV    TOTAL  PERCENT ID
   6       1.08    1      11.85   20.52   13       0.85   13      88.39 ......projectMappedMatrices

After (with areJacobiansConstant=True)

[INFO]    [BatchGUI] 1000 iterations done in 12.3888 s ( 80.7183 FPS).
 LEVEL   START    NUM      MIN     MAX   MEAN     DEV    TOTAL  PERCENT ID
   6       1.03    1       7.64   18.39    8.59    0.76    8.59   84.35 ......projectMappedMatrices

Speed up x1.5 on the matrix mapping.

Note that using a ConstantSparsityPatternSystem instead of a MatrixLinearSystem is slightly faster (but it is not in the scope of this PR):

[INFO]    [BatchGUI] 1000 iterations done in 11.7897 s ( 84.82 FPS).

Plans for the future:

• Write a new MatrixMapping component taking advantage of the constant sparsity pattern to further improve the performances
• Write a new MatrixMapping component that would use multithreading, and maybe one using the GPU

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[alxbilger]

Finally, the optimization in 1b04773 allows the following timing:

[INFO]    [BatchGUI] 1000 iterations done in 9.61064 s ( 104.051 FPS).
 LEVEL   START    NUM      MIN     MAX   MEAN     DEV    TOTAL  PERCENT ID
   6       0.76    1       5.59   15.95    6.37    0.69    6.37   83.21 ......projectMappedMatrices

Speed up x2 compared to before this PR

[alxbilger]

[ci-build][with-all-tests]

[alxbilger]

@damienmarchal I was not able to move this component in a header part because of links towards mechanical states that don't exist yet.