Merge branch 'master' of github.com:humanoid-path-planner/hpp-corbaserver

Conflicts:
	src/problem.impl.cc
changes for residualError

Conflicts:

	src/problem.impl.cc
	src/robot.impl.cc
cherry pick changes for residualError
changes for createPositionConstraint

Conflicts:

	src/problem.impl.hh
Andreas changes

Conflicts:

	idl/hpp/corbaserver/robot.idl
	src/robot.impl.hh
minor
Merge branch 'master' into HEAD

Conflicts:
	src/problem.impl.cc
	src/robot.impl.cc
rm empty function