- radius and wheel joints are now provided by parameters through class
    Problem,
  - distance does not need steering method anymore.

This reverts commit a4c8a7d4.

  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.