Update to modifications in hpp-model

  - split rotation joint into two classes.
Add isParametric to problem client
Add step-by-step planning to client problem
Add method generateValidConfig to interface problem.
Fix bug in problem::generateValidConfig
Add resetRoamap to interface problem
Add setPassiveDofs to interface problem.
Integrate Inequality of package hpp-core
Follow changes in hpp-core
Fix bug introduced when rebasing.
Update methods related to EquationType
Use isConfigValid instead of collisionTest.
Fix bug in dofArrayToConfig