Rename Transform -> Transform_ in idl files

  - in order to avoid conflict name with the future Transform python class.
Implement python class Transform.
Add method transform in python class Quaternion.
Add interface method getObjectPosition in Robot interface.
Add interface method to get waypoint of a path.
Fix method Robot.setTranslationBounds in robot.py.
Test path id when accessing a path.
Cosmetic change

  - reindent and remove trailing white spaces.
Make Robot::collisionTest deprecated and add Robot::isConfigValid
Update to modifications in hpp-core

  - collision and distance computation with the environment have been moved
    form the device to specific classes.
Update method removeObstacleFromJoint.
Fix method Robot::collisionTest.
Add a parameter in python class Robot to prevent reloading urdf file.
Add an interface method to select the path validation method.
Call path validation in Problem::directPath.
Call path validation in Problem::directPath.
Merge branch 'benchmark'
Add a mask to Position and orientation constraints.
Forward all interface methods of Problem in python ProblemSolver class.
Rename Problem::configAtDistance -> configAtParam.