Add accessors for maxIterations and errorThreshold

  in classes ConfigProjector and ProblemSolver.
Add a local map of numerical constraints in ProblemSolver

  - numerical constraints are stored by name in a local map in order to be
    inserted into the ConfigProjector.
Add debug output on configuration validity
In PathPlanner::solve, try direct connection before starting extending roadmap.
Call for a roadmap reset if a collision obstacle is loaded
Fix warning.
Fix warning related to order of initialization.
Fix LockedDof.

  - make the distinction between rank in configuration and rank in velocity.
  - rank in configuration is used to set the value of the locked dof,
  - rank in velocity is used to remove Jacobian columns in config projection.