Adapt to the removal of roboptim::UserIntermediateCallback

This modification allows to work with the last version of roboptim.
Thanks to Benjamin, the cost and the constraint violation can now be accessed when using roboptim.

Though, compare to the former version, some elements have been removed:
* the test of RegularMode
(it could be stored in the parameters in ipopt callback, then read, but I'm not sure it is the proper way to do it).
* dual_inf, complem, overallError are not stored anymore