Add MemoryManager and MemoryAllocatorDebugger

[jslee02]

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Before creating a pull request

• Document new methods and classes
• Format new code files using ClangFormat by running make format
• Build with -DDART_TREAT_WARNINGS_AS_ERRORS=ON and resolve all the compile warnings

Before merging a pull request

• Set version target by selecting a milestone on the right side
• Summarize this change in CHANGELOG.md
• Add unit test(s) for this change
• Add Python bindings for new methods and classes

[codecov]

Codecov Report

Merging #1646 (96c346d) into main (f07186f) will decrease coverage by 0.00%.
The diff coverage is 72.13%.

@@            Coverage Diff             @@
##             main    #1646      +/-   ##
==========================================
- Coverage   59.12%   59.11%   -0.01%     
==========================================
  Files         494      496       +2     
  Lines       40766    40795      +29     
==========================================
+ Hits        24101    24116      +15     
- Misses      16665    16679      +14     

Impacted Files	Coverage Δ
dart/common/CAllocator.hpp	100.00% <ø> (ø)
dart/common/FreeListAllocator.hpp	0.00% <ø> (ø)
dart/common/MemoryAllocator.hpp	100.00% <ø> (ø)
dart/common/PoolAllocator.hpp	0.00% <ø> (ø)
dart/common/StlAllocator.hpp	100.00% <ø> (ø)
dart/constraint/ConstraintSolver.hpp	100.00% <ø> (ø)
dart/dynamics/BodyNode.hpp	100.00% <ø> (ø)
dart/constraint/ConstraintSolver.cpp	67.97% <60.00%> (-0.72%)	⬇️
dart/common/MemoryManager.cpp	62.71% <62.71%> (ø)
...art/common/detail/MemoryAllocatorDebugger-impl.hpp	68.18% <68.18%> (ø)
... and 10 more