Fix boolean inversion
renamed wkptr to wkptr_t, to be consistent with the newest version of hpp::model
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.
Make BasicConfigurationShooter public.
Add local variable squareNorm_ and corresponding getter residualError()
Use ChildrenIterator loop to optimize WeighedDistance computation
Move finishSolve() from DiffusingPlanner to PathPlanner, and add debug outputs
Cosmetic changes

  - remove trailing white spaces.
Fix header defining configuration shooters

  - include <hpp/core/config.hh> and <hpp/core/fwd.hh>
  - make symbol BasicConfigurationShooter public in library.
Fix PlanAndOptimize class

  - remote method tryDirectPath that has been moved to PathPlanner,
  - implement startSolve and call internal PathPlanner implementation.
Add documentation
Include missing header.
Provide method to add path planner and path optimizer types in problem solver.