Big refactoring in progress to handle many robot in the same QP.
QPMotionConstr has been refactored.
Refactoring of some constaints.
Pass the first unit test.
Put all bounds data structure in a Bounds.h.
Test Torque bounds and joint limits constraints.
Update MotionConstr to only manage one robot.
That allow to manage multiple robot with different motion constraint.
JointLimitsConstr and DamperJointLimitsConstr apply on one robot only.
Remove Bound constraint from MotionConstr.
Add PositiveLambda constraint that must manage that now.
Merge SelfCollision and StaticEnvCollision constraint in CollisionConstr
class.
This new class also support multi robot collision avoidance.
Remove CoMCollisionConstr that is unstable. Use CoMIncPlaneConstr instead.
Port CoMIncPlaneConstr to the new API.
Restore some unit test.
Port GripperTorqueConstr.
Port ConstantSpeedConstr.
Rename ConstantSpeedConstr in BoundedSpeedConstr.
Port QPDofContactsTest.
Fix contacts constraint free dof computation.
Add multi robot unit test.
Fix friction cône generation.
Add TwoArmDDynamicContactTest.
Document a little TwoArmDDynamicContactTest.
Rename BoundedSpeed methods.