add a 'deleteNonlinearConstraint' function to NonlinearProgram
add the first test case for deleteNonlinearConstraint
add more test cases to deleteNonlinearConstraint. add 'updateNonlinearConstraint'
add 'deleteLinearConstraint' to NonlinearProgram
Add ID to each of the constraint. So now the constraint is not accessed using their index, but the unique ID, which is more robust
add test case for 'deleteLinearConstraint' in NonlinearProgram
add 'deleteBoundingBoxConstraint' to NonlinearProgram
replace the 'replaceBoundingBoxConstraint' in InverseKinematicsTrajectory with the new 'updateBoundingBoxConstraint'
add 'deleteConstraint' and 'updateConstraint' to NonlinearProgram
revert a change on the Iterations limit in testIKtraj
Fix a bug in testIKtraj when computing the contact points on the foot
Loosen the MajorOptimalityTolerance in testIKtraj to avoid time out
change the ID of the constraint in NonlinearProgram, to avoid confusing with the index of the constraint
Address the comments from Andres, to add documentation for NonlinearProgram
Merge pull request #393 from hongkai-dai/update-constraint

Update constraint