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.

  Methods acting on right hand side of Implicit are now deprecated,
  Implicit::rightHandSideFromConfig now takes the resulting right hand side
  as a parameter.
  Computation of right hand side in solvers have been moved to Implicit class.

  for more accuracy.

Joseph Mirabel authored Jan 17, 2018 and Joseph Mirabel committed Jan 17, 2018

* This follows Eigen naming convension

Joseph Mirabel authored Jul 21, 2017 and Joseph Mirabel committed Jul 21, 2017

* Add implementation in GenericTransformation

  - 1e-12 -> 1e-10.

  - this test points out what looks like to be a bug.

Joseph Mirabel authored May 17, 2016 and Joseph Mirabel committed May 17, 2016

replace them by the templated class GenericTransformation

Joseph Mirabel authored May 17, 2016 and Joseph Mirabel committed May 17, 2016

constructors.