xxxProblemData generally needs two types of `model` and `data`

[echandler5956f]

xxxProblemData for the legged constraints needs a symbolic model/data and a numerical model/data- the former to access the symbolic FK, and the latter to access the numeric functions (necessary for Baumgarte corrector to get the reference we are tracking).

[echandler5956f]

Addressed in commit df766ad by adding as a component to each problem data. I am not totally convinced that this is best, but smart ptrs are cheap so it doesn't hurt. Also included typedefs of the AD and double versions of the model and data in LeggedRobotStates for convenience. Maybe there is a better place to put these commonly used typedefs, but for now it works.