This commit fixes collision detection using class Problem.

  - use clearConfigValidations instead.

  Constructors that used to take const Problem& as input now take
  const ProblemConstPtr_t.
  Classes that used to store a const Problem& now store a
  ProblemConstWkPtr_t.

Various minor fixes.

- Not sure this is theoretically sound in general but it allows to lock
joints.
- TODO handle path projection ?

Add TOPPRA path optimizer

Release of version 4.10.0.

Olivier Roussel authored Jun 29, 2020 and Joseph Mirabel committed Aug 11, 2020

[TOPPRA] time parameterization now done per elementary path, so that path vector can't have any time parameterization associated to them.

release 4.9.1

  Do not test template classes that are not instantiated.

Add BiRRT* + parameters to DiffusingPlanner