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fix some NaN #2332

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fix some NaN #2332

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Commits on Jul 16, 2024

  1. test: setZero() 

    fix for `-DINITIALIZE_WITH_NAN`:
```
…/pinocchio/unittest/constrained-dynamics.cpp(1512): error: in "Test/test_sparse_forward_dynamics_in_contact_specifying_joint2id_case3D": check contact_force.isApprox(-contact_force_bis) has failed
contact_force:  6.13593  2.26573 -1.29027      nan      nan      nan
contact_force_bis: -6.13593 -2.26573  1.29027        0        0        0
cdata.c1Mc2:
```
    @nim65s
    nim65s committed Jul 16, 2024
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  2. RigidConstraintDataTpl: update ctor 

    fix test-cpp-constraint-variants with `-DINITIALIZE_WITH_NAN`:
```
Running 2 test cases...
…/pinocchio/unittest/constraint-variants.cpp(50): error: in "Test/contact_visitors": check ConstraintData(rcd) == ConstraintData(rcd) has failed
…/pinocchio/unittest/constraint-variants.cpp(51): error: in "Test/contact_visitors": check ConstraintData(rcd) == rcd has failed
…/pinocchio/unittest/constraint-variants.cpp(62): error: in "Test/contact_visitors": check rcd == constraint_data has failed
```
    @nim65s
    nim65s committed Jul 16, 2024
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  3. add changelog entry

    @nim65s
    nim65s committed Jul 16, 2024
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