to comply with modification in hpp-constraints.

  This fixes a bug due to numerical approximation. In some cases, an explicit
  constraint of the path is satisfied for a configuration, but the constraint
  of the node that is supposed to contain the path constraint is not satisfied.

  RelativeTransformation -> RelativeTransformationSE3 with mask.

  Replace deprecated Path::operator() by method eval.

  Replace deprecated Path::operator() by method eval.

  - methods formerly taking a const reference to Problem as input now take
    a shared pointer to const Problem.

  - add assert to check that tests are always false.

Fix C++98 compatibility.

Update to modifications in hpp-constraints

  - Specify comparison types in implicit constraint constructors.

  constraints::implicit::RelativePose has been removed.

  - replace call to deprecated method,
  - include amsmath package to generate documentation,
  - fix unit test.

  - Refactoring of ConvexShapeContact.

[ROS] Add package.xml