The main goal of this milestone is to:

1. Rewrite all the Python classes into c++ classes.
2. Created Python bindings for each c++ classes.
3. Rewrite the Python unit-tests into c++ ones.

c++ implementation

After a lot of benchmarking, Crocoddyl will follow a virtualization design based on Eigen. @cmastall is the only responsible for this task.

Python bindings

It's expected to have not changes in the Python API, or at least minimal changes on it. @cmastall is the main responsible for this task but third-hands are welcome.

c++ unit-test

All c++ unit-tests have to reflect the vast quantities of Python test. @mnaveau is taking the lead regarding this task.

All the changes have to be merged into the cpp_devel branch through PR.