Enable multithreading for OCP + Modify compilation option for the robot

[jmirabel]

Multithreading is implemented using OpenMP. We want to enable OpenMP only inside crocoddyl. This is done using a CMake flag inside crocoddyl.

Tasks to make it work:

• based on the development Dockerfile, make an experiment Dockerfile that only differs on those points.
  • compiles all code with -03 option and without debug symbols
  • compiles crocoddyl with OpenMP support
• benchmark the performances of crocoddyl with OpenMP on miyanoura to assess that we are indeed able to have better performances. The test can first be ran in C++. However, it should be tested with Python.
• Make sure that future experiments uses the experiment image generated using the experiment Dockerfile.

[Kotochleb]

Docker is built now with -O3 and OpenMP enabled in crocoddyl. It is still on RelWithDebInfo instead Release

[jmirabel]

It is still on RelWithDebInfo instead Release

Why so?

Are you sure your -O3 is not overwritten by RelWithDebInfo, which contains -O2 ?