Add GenQPSolver to easily manage QP with different notation.
Also split Constraint in equality Consraint, inequality constraint and general inequality constraint.
Port GripperTorqueConstr to the new Inequality interface.
Remove LSSOLQPSolver::res_ vector.
const GenQPSolver::result.
Fix python binding.
Add QLD solver.
Set a PostureTask in QPConstantSpeedTest to have a stabler problem.
Use a factory to create instantiate GenQPSolver.
Add QPSolver::solver method to change the solver on the fly.
Update python binding.
Remove QPSolver::silent_ attribute.
Add GenQPSolver::errorMsg pure virtual method to display error message when QP has failed.
Implement it to LSSOL.
Fix CollData::dampingType initialization.
Forget to fix CollData::dampingType in SelfCollisionConstr.
Merge branch 'gen_solver'