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  - 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.