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

CMakeLists.txt

doc/Doxyfile.extra.in

include/hpp/manipulation/device.hh

include/hpp/manipulation/fwd.hh

include/hpp/manipulation/problem.hh

.../manipulation/steering-method/cross-state-optimization.hh

include/hpp/manipulation/steering-method/fwd.hh

include/hpp/manipulation/steering-method/graph.hh

src/CMakeLists.txt

src/device.cc

src/graph/edge.cc

src/graph/helper.cc

src/path-optimization/keypoints.cc

src/problem-solver.cc

src/problem.cc

src/steering-method/cross-state-optimization.cc

src/steering-method/cross-state-optimization/function.cc

src/steering-method/graph.cc