Fix Eigen5 support on Pinocchio 3

[jcarpent]

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Description

Checklist

• I have run pre-commit run --all-files or pixi run lint
• I have performed a self-review of my own code
• I have commented my code where necessary
• I have made corresponding changes to the doxygen documentation
• I have added tests that prove my fix or feature works
• I have updated the CHANGELOG or added the "no changelog" label if it's a CI-related issue
• I have updated the README credits section

[github-actions]

👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:

• build_collision (build Pinocchio with coal support)
• build_casadi (build Pinocchio with CasADi support)
• build_autodiff (build Pinocchio with CppAD support)
• build_codegen (build Pinocchio with CppADCodeGen support)
• build_extra (build Pinocchio with extra algorithms)
• build_mpfr (build Pinocchio with Boost.Multiprecision support)
• build_sdf (build Pinocchio with SDF parser)
• build_accelerate (build Pinocchio with APPLE Accelerate framework support)
• build_all (build Pinocchio with ALL the options stated above)

Thanks.
The Pinocchio development team.

[jcarpent]

@nim65s Following a recommendation made by @jorisv, could you please add the support of Eigen5 in Nix?

[nim65s]

I've added a nix job with eigen 5, without python, casadi & coal.
I've also checked that it is failing as expected if a EIGEN_NOEXCEPT is not replaced by noexcept:

In file included from /build/source/unittest/tridiagonal-matrix.cpp:7:
/build/source/include/pinocchio/math/tridiagonal-matrix.hpp:263:41: error: expected ';' at end of member declaration
  263 |     EIGEN_CONSTEXPR Eigen::Index rows() const EIGEN_NOEXCEPT
      |                                         ^~~~~
      |                                              ;
/build/source/include/pinocchio/math/tridiagonal-matrix.hpp:263:47: error: 'EIGEN_NOEXCEPT' does not name a type
  263 |     EIGEN_CONSTEXPR Eigen::Index rows() const EIGEN_NOEXCEPT
      |                                               ^~~~~~~~~~~~~~

[jorisv]

Casadi support is not working

[jorisv]

Casadi support is fixed now.
I can't test easily python binding since I would have to rebuild eigenpy.
Do we merge even if the support is partial ?

[nim65s]

as discussed in internal meeting, this will wait for pinocchio v4