Add std::allocator compatible memory allocator wrapper

[jslee02]

• Add StlAllocator, a std::allocator compatible memory allocator wrapper

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Before creating a pull request

• Document new methods and classes
• Format new code files using ClangFormat by running make format
• Build with -DDART_TREAT_WARNINGS_AS_ERRORS=ON and resolve all the compile warnings

Before merging a pull request

• Set version target by selecting a milestone on the right side
• Summarize this change in CHANGELOG.md
• Add unit test(s) for this change

[codecov]

Codecov Report

Merging #1637 (25f8d84) into main (2507c72) will increase coverage by 0.00%.
The diff coverage is 71.42%.

@@           Coverage Diff           @@
##             main    #1637   +/-   ##
=======================================
  Coverage   58.96%   58.96%           
=======================================
  Files         479      485    +6     
  Lines       40195    40272   +77     
=======================================
+ Hits        23699    23746   +47     
- Misses      16496    16526   +30     

Impacted Files	Coverage Δ
dart/common/MemoryAllocator.cpp	27.27% <27.27%> (ø)
dart/common/CAllocator.cpp	71.11% <71.11%> (ø)
dart/common/detail/StlAllocator-impl.hpp	94.11% <94.11%> (ø)
dart/common/CAllocator.hpp	100.00% <100.00%> (ø)
dart/common/MemoryAllocator.hpp	100.00% <100.00%> (ø)
dart/common/StlAllocator.hpp	100.00% <100.00%> (ø)
dart/dynamics/EulerJoint.cpp	70.17% <0.00%> (-2.93%)	⬇️
dart/dynamics/Skeleton.cpp	67.74% <0.00%> (-0.17%)	⬇️