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  Path projectors are defined in core::ProblemSolver and overloaded in
  manipulation::ProblemSolver. Formerly, the overloaded method checked that
  the steering method was of type manipulation::SteeringMethod and created
  the path projector with the inner steering of the latter.

  This commit modifies this behavior since calling idl method
  hpp::corbaserver::Problem::createPathPlanner with a core_idl::Problem
  instance as input fails when the problem solver is of type
  manipulation::ProblemSolver.

  "Graph-SteeringMethodStraight" and "Graph-Straight" refer to the same
  steering method.

  when robot contact surfaces are not on a freeflying object.

These errors are shown when compiled in debug mode.

  - do not copy constraints from graph solvers,
  - in solver construction, use target constraints of transitions instead of
    merging solvers of edge, graph and target state. In target constraints,
    constraints and complements are merged when necessary.

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

  - add parameter "CrossStateOptimization/nRandomConfig" to specify the number
    of trials to generate each waypoint configuration.

  if starting configuration slightly violates the constraint.
  Return false instead.

This reverts commit 0d81bac3.

  - only before initialization.

  - remove duplicate loop.

  - 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.

  - Methods of class Implicit that use member rhs_ have been made deprecated.

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

  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.