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

include/hpp/manipulation/graph-path-validation.hh

include/hpp/manipulation/graph/edge.hh

include/hpp/manipulation/graph/helper.hh

include/hpp/manipulation/graph/node.hh

include/hpp/manipulation/problem-solver.hh

include/hpp/manipulation/problem.hh

src/axial-handle.cc

src/graph-optimizer.cc

src/graph-path-validation.cc

src/graph-steering-method.cc

src/graph/edge.cc

src/graph/guided-node-selector.cc

src/graph/helper.cc

src/graph/node.cc

src/handle.cc

src/manipulation-planner.cc

src/problem-solver.cc

src/problem.cc

tests/path-projection.cc