updates:
- [github.com/pre-commit/mirrors-clang-format: v13.0.1 → v14.0.4-1](https://github.com/pre-commit/mirrors-clang-format/compare/v13.0.1...v14.0.4-1)
- [github.com/pre-commit/pre-commit-hooks: v4.2.0 → v4.3.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.2.0...v4.3.0)

tests: remove link to Boost::unit_test_framework

fix: detect locked joint with more than 1 DOF

for more information, see https://pre-commit.ci

Bug in API `dependsOnRelPoseBetween` when there is a locked joint with
more than 1 DOF. This happened due to a misunderstanding of
Eigen::MatrixBlocks::nbRows() method, which actually returns total
number of row indices, rather than the number of row index **intervals*.
This has been fixed and unit test is modified to detect this kind of
errors.

[ConvexShapeContact] Compare Joint instances and not pointers.

[ConvexShapeContact] Fix bug in indexing of pairs of contact surfaces

Add method to retrieve joints involved in a constraint function

[ConvexShapeContact] Add a check before creating an explicit constraint

Get pair of joints involved in differentiable fn

Get locked joint for explicit constraint

Add method to retrieve a joint whose whole or partial configuration will
decide the value of the implicit function in an explicit constraint.
This is currently done by inspecting the set of configuration input and output
intervals: if input has size 0 and output falls into interval of a joint,
then the joint is "locked" its config alone will affect the fn value.

Fix bug comparing joints from their pointers

Fix: locked joint should be locked wrt parent joint

Previous implementation misunderstands the locked joint, and assumes
that locked joint is locked wrt the world joint. The correct
understanding is that locked joints are locked wrt the parent joint,
which may or may not be the world joint.

Edit documentation based on comments

Clearer documentation on how the method works and what the arguments are

Add API check if all rows in constraint are active

Add API to find joint pair constrained

Return a pair of joints whose relative pose is fully constrained because
of constraint.

Clearer name for API to get joints involved

Add API for convex shape contact complement and hold
For now, it only works if the all convex shapes in floorConvexShapes_
are on the same joint an all the convex shapes in objectConvexShapes_
are on the same joint.

Refactor APIs and fix minor bugs

  joint before creating an explicit constraint.
  Throw an exception if it is not the case.

[CMake] publicize qpoases compile definition

To fix use of `-DHPP_CONSTRAINTS_USE_QPOASES` in dependent project (eg.
hpp-corbaserver) which depend on hpp-constraints through cmake exports
and not .pc files.

Before:
```
$ grep -r HPP_CONSTRAINTS_USE_QPOASES build
build/config.log:_PKG_CONFIG_CFLAGS = -I${includedir} -DHPP_CONSTRAINTS_USE_QPOASES
build/CMakeCache.txt:_PKG_CONFIG_CFLAGS:INTERNAL=-I${includedir} -DHPP_CONSTRAINTS_USE_QPOASES
build/hpp-constraints.pc:Cflags:  -I${includedir} -DHPP_CONSTRAINTS_USE_QPOASES
```

After:
```
>$ grep -r HPP_CONSTRAINTS_USE_QPOASES build
build/build.ninja:  DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SERIALIZATION_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_CONSTRAINTS_USE_QPOASES -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=3 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -Dhpp_constraints_EXPORTS
[…]
build/config.log:_PKG_CONFIG_CFLAGS = -I${includedir} -DHPP_CONSTRAINTS_USE_QPOASES
build/CMakeFiles/Export/lib/cmake/hpp-constraints/hpp-constraintsTargets.cmake:  INTERFACE_COMPILE_DEFINITIONS "HPP_CONSTRAINTS_USE_QPOASES"
build/CMakeCache.txt:_PKG_CONFIG_CFLAGS:INTERNAL=-I${includedir} -DHPP_CONSTRAINTS_USE_QPOASES
build/hpp-constraints.pc:Cflags:  -I${includedir} -DHPP_CONSTRAINTS_USE_QPOASES
```

Fix documentation indentation for constraints

Change license to BSD 2 clauses.

Due to inconsitent use of space and tabs, as well as some typos,
the documentation for implicit constraint does not show up properly.
This has been fixed in this commit.