Compliant: harmonized utils cg/minres APIs

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10765 b7f1a160-662a-0410-a6d8-bea165342f16
FIX: RigidMapping tests for N = 2

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10766 b7f1a160-662a-0410-a6d8-bea165342f16