Before adding another constraint to a solver, check if it already has
the stricter version of the constraint. `constraint/hold` is stricter
than `constraint` and stricter than `constraint/complement`.

This is currently done by propagating the constraints from the last
state to the initial state if the joints involved in each constraint are
constrained during all transitions between the initial state and the
last state. Checking the initial configuration to see if it
satisfies these constraints will help to eliminate some state sequences.

Able to build now, but code is probably useless

  - Use parent implementation for method solve,
  - reimplement tryToConnectInitAndGoals,
  - remove InStatePath class and call core::DiffusingPlanner instead.
  - optimize paths on sub-manifolds with random shortcut and insert path
    in roadmap.

  Do not clear constraintsAndComplements_ after graph initialization,
  Add method clearConstraintsAndComplement(),
  call this method in ProblemSolver::initConstraintGraph().

This reverts commit 0d81bac3.

  - GraphComponent::numericalConstraints is virtual,
  - reimplemented in Edge a follows:
    - if edge is not initialized, call parent implementation,
    - otherwise return constraints that are in the solver.
  - The differences are that:
    1. constraints and complements are replaced by explicit constraints,
    2. constraints of the containing node are also returned.

  - when inserting them. Throw if they are.
  - Add a test.

  to comply with modification in hpp-constraints.

  RelativeTransformation -> RelativeTransformationSE3 with mask.

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

  Set error threshold for each internal edge to the value of the edge divided
  by the number of internal edges.

  -> generateTargetConfigOnLeaf.

  - reference ICRA 2017 paper.

  Make previous methods deprecated
  Rename Graph::configConstraint(EdgePtr_t) into targetConstraint.

  make old methods deprecated.
  This will homogeneize with hpp-manipulation-corba naming.