Add Homebrew macOS CI

[ahoarau]

Thanks for taking the time to make and fill out this pull request!

Description

This PR adds a CI for macOS, where we get the dependencies via Homebrew and run plain CMake.
This can serve as instructions for people wanting to build pinocchio without conda/pixi.

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.

[jorisv]

Hello,
Right now we doesn't want to support another package manager in our CI.
Homebrew has his own CI/build system, no need to test our compatibility with it here.

[ahoarau]

Got it. If brew is officially supported, would the instructions be useful at least ?

[jorisv]

It's not about being officially supported. It's about being used by core developers :

• conda is used by pinocchio core developers
• nix is used by pinocchio core developers and the CI is filling cachix
• Ubuntu test if we break compatibility with LTS (minimal supported tools and library version are defined by LTS)
• ROS is used by pinocchio core developers (also, providing a patch to ROS CI after release is a pain, so better catch it early)