Fix copy-constructor and copy-assignment operator in ContactPhaseList class

[GiulioRomualdi]

This Implements the copy-constructor and copy-assignment operator for the ContactPhaseList class.

ContactPhaseList has an attribute called m_phases

https://github.com/dic-iit/bipedal-locomotion-framework/blob/d916b56f71eca03a7d1e519e4f13d785665b79ed/src/Contacts/include/BipedalLocomotion/Contacts/ContactPhaseList.h#L37

where ContactPhase has a std::unordered_map of active contacts during a given phase.

https://github.com/dic-iit/bipedal-locomotion-framework/blob/d916b56f71eca03a7d1e519e4f13d785665b79ed/src/Contacts/include/BipedalLocomotion/Contacts/ContactPhase.h#L37-L40

Accordingly to the ContactPhaseList documentation

https://github.com/dic-iit/bipedal-locomotion-framework/blob/d916b56f71eca03a7d1e519e4f13d785665b79ed/src/Contacts/include/BipedalLocomotion/Contacts/ContactPhaseList.h#L28-L31

all the iterators stored in this->m_phases should refer to this->m_contactList.
However when the default copy-constructor/copy-assignment operator are colled the content of other.m_phases is copied into this->m_phases and consequentially the iterators stored in this->m_phases will refer to other.m_contactLists.

I wrote an ad-hoc test to spot the bug. The test fails in Ubuntu 20.04 if Valgrind is used. Please check here.

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In order to satisfy the rule of five the move-constructor move-assignment operator and destructor member functions must be defined.

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I also introduced TextLogging in ContactPhaseList

Thank you @prashanthr05 for helping me in debugging 😃

[prashanthr05]

Minor comments.

[GiulioRomualdi]

@prashanthr05 I fixed the typos and I rebased

[prashanthr05]

Green light from me for the merge.

[S-Dafarra]

Thanks!