cut dependency to kitelab and jrl-dynamics,
  implement roadmap, problem, path planner...

  Insert PARAM_PENETRATION in the map.

  Insert PARAM_PENETRATION in the map.

  Set robot in config before validating

  * Use CkwsKCDBodyAdvanced class for bodies.
  * Comply with changes in hpp-model and use BodyDistance class.

  The method did not really reset the goal nodes of the roadmap
  builder.

  * Once a geometry component is added by kpp-interface, it is
    detached from its parent, so looping over the child components
    does not work correctly.
  * Store all child components in a dedicated vector before adding
    them as obstacles in a second loop.

    In some motion planning problems like manipulation planning where the goal is defined
    as a sub-manifold, it is sometimes useful to be able to define several goal
    configurations.

    See porting notes for information

    Do not return const object,
    add braces around else statement.

    addHppProblem, removeHppProblem, addHppProblemAtBeginning
    removeHppProblemAtBeginning.

    Fix method Planner::parseFile that fails if device is not of type
    HumanoidRobot.