Added Ellipse Contact Constraints
Improved Boost lib search
Update python binding.
Improved the projection of surfaces in ellipse contact constraints
Fixes body index bug in ellipse constraint estimation
Add EllipseContactConstr to CMakeLists headers and lib.cpp.
Synchronize.
Force the use of boost >= 1.48
Adapt to the removal of roboptim::UserIntermediateCallback

Compared to the former version, some elements have been removed:
* the test of RegularMode
* dual_inf, complem, overallError are not stored anymore
Test the mode of ipopt.
Use PostureGenerator::iters_ instead of a local instenciation of the iteration callback to store values.
Also rename IpoptIntermediateCallback in IterationCallback.
Remove all plugin-ipopt linking.
Remove ipopt specific quantities.
Set the gravity in the good frame in the hybrid inverse dynamics.
Added methods to retrieve ellipse datas at each solver iteration
Added print method for EllipseData
Replaced the templated ellipseData in PGData by non-templated ellipseResult in
ConfigStruct
Python bindings for getting ellipseResults
Fixed bug in bodyIndex finding
Added a second Radius min for ellipses. Former constructors still work
Fix a bug in EllipseContact constructors for when one radius in given as
negative