SmartVector + SplineSplitter

Added SmartVector class.

New Features

• [memory]:
  • Added SmartVector class as hybrid implementation of std::array and std::vector (uses a pre-allocated stack buffer for efficiency and a dynamically allocated heap buffer to extend the stack buffer (for flexibility)).

Non-Breaking Changes

• [core]:
  • PlatformHelpers: fixed small bug in comment (namespace transfer from am2b to broccoli)
• [curve]:
  • QuaternionBSplineCurve now internally uses SmartVector for evaluation (increases performance). However, the interface remains the same.
  • Added PolynomialSplineSplitter and PolynomialTrajectorySplitter classes for improved convenience

Breaking Changes

• [core]:
  • math::faaDiBrunoTuples and math::generalLeibnizTuples now use SmartVector as output for better performance in most cases.
• [geometry]:
  • The Polygon2D class now uses the new SmartVector for the list of vertices. Polygon2D thus is now a template class. This way we can avoid memory fragmentation through allocating many small Eigen::Vector2D elements on the heap (if we know the maximum vertex count at compile time).
  • The XML encoding of the Polygon2D class now uses the correct tag Polygon2D instead of Polygon.