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                                                                -*- outline -*-
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* TransformationR3xSO3 and RelativeTransformationR3xSO3 return error values
  is R3xSO3 LiegroupSpace.
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* Solvers now handle constraints with right hand sides in Lie groups.
* A mask has been added to class Implicit to select which lines of the
  constraint should be taken into account (active rows).
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New in 4.10.0
* ConvexShapeContact classes have been improved.
  - stable position of objects is now unique for any right hand side value of
    the complement constraint.
* Use cmake to handle dependencies (cmake submodule).
* Architecture of constraint classes has been simplified.
* Use Romeo instead of Baxter in tests.
* Enable users to use GenericTransformation with a joint2 equal to 0x0.
* Add serialization functions.
New in 4.9.0
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* Computation of constraint right hand side have been fixed
  - in ExplicitConstraintSet, the computation was wrong, it has been fixed,
  - in Implicit, the computation has been made similar to the one in
    HierarchicalIterative.
* Template flag definitions in GenericTransformation have been fixed
  - to comply with C++11 standard.
* throw declaration have been removed to comply with C++11 standard.
* Configuration variable RUN_TESTS has benn replaced by BUILD_TESTING
  - for homogeneity with other hpp packages.

New in 4.8.0
* Wrong indentation in output stream has been fixed.

New in 4.7.0
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* Class HierarchicalIterative
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  - a bug in right hand side getter by constraint has been fixed,
  - a getter to numerical constraints has been added. It returns the implicit
    and explicit constraints,
  - a method computing whether a solver solution manifold is a submanifold of
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    another solver solution manifold has been added,
  - method merge adds the constraints of another solver to this one.
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* Class Implicit has been cleaned up
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  - methods setting and getting the right hand side are not deprecated anymore,
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  - deprecated methods have been remove.
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New in 4.6.0
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* Class Implicit has been improved.
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  - It does not handle right hand side anymore: methods setting and getting
    right hand side have been made deprecated.
  - It does not store value and Jacobian anymore: setters and getters have been
    made deprecated.
  - The function of the constraint may now have output in a Lie group other
    than a vector space.
  - The documentation has been made more accurate.
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* Accessor to right hand side by constraint have been fixed
  - in HierarchicalIterative.
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New in 4.5.0
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* Move ExplicitRelativeTransformation from hpp-core and refactor
  - explicit_::RelativePose now derive from Explicit and from
    implicit::RelativePose,
  - only implicit formulation is used to evaluate error.
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* Rename LieGroupTpl -> LieGroupMap,
* Rename a few classes and make old names deprecated:
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  - DifferentiableFunctionStack -> DifferentiableFunctionSet,
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  - ExplicitSolver -> ExplicitConstraintSet,
  - HierarchicalIterativeSolver -> solver::HierarchicalIterative,
  - HybridSolver -> solver::BySubstitution.
* Move and rename some classes from hpp-core:
  - core::Equation and core::NumericalConstraints -> constraints::Implicit,
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  - core::ExplicitNumericalConstraints -> constraints::Explicit,
  - constraints::Explicit now derive from constraints::Implicit,
  - warning: default comparison type is now equality for all constraints.
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* Refactor ExplicitConstraintSet: rename members and methods to better fit RSS
  paper notation and pinocchio convention:
  - argSize -> nq,
  - derSize -> nv,
  - freeArgs -> notOutArgs_,
  - freeDers -> notOutDers_,
  - viewJacobian -> jacobianNotOutToOut.
* Constructor and create methods of Explicit take a LiegroupSpace instead of a
  robot,
* Modify prototype of BySubstitution::projectVectorOnKernel
  - vectorIn_t -> ConfigurationIn_t,
  - vectorOut_t -> ConfigurationOut_t.
* In class HierarchicalIterative, rename "reduction" -> "free variables".

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New in 4.1, 2018-05-13