Merge remote-tracking branch 'florent/devel' into devel

include/hpp/manipulation/fwd.hh

include/hpp/manipulation/graph-node-optimizer.hh

include/hpp/manipulation/graph-optimizer.hh

include/hpp/manipulation/manipulation-planner.hh

...pulation/path-optimization/enforce-transition-semantic.hh

...ude/hpp/manipulation/path-optimization/random-shortcut.hh

include/hpp/manipulation/path-optimization/small-steps.hh

...p/manipulation/path-optimization/spline-gradient-based.hh

.../hpp/manipulation/path-planner/end-effector-trajectory.hh

.../manipulation/steering-method/cross-state-optimization.hh

...p/manipulation/steering-method/end-effector-trajectory.hh

include/hpp/manipulation/steering-method/graph.hh

src/graph-node-optimizer.cc

src/graph-optimizer.cc

src/manipulation-planner.cc

src/path-optimization/small-steps.cc

src/path-optimization/spline-gradient-based.cc

src/path-planner/end-effector-trajectory.cc

src/problem-solver.cc

src/problem.cc