Merge remote-tracking branch 'origin/devel' into pinocchio_v2

.gitlab-ci.yml

CMakeLists.txt

README.md

cmake

doc/Doxyfile.extra.in

doc/main.hh.in

include/hpp/manipulation/handle.hh

...hpp/manipulation/path-optimization/config-optimization.hh

...ude/hpp/manipulation/path-optimization/random-shortcut.hh

...p/manipulation/path-optimization/spline-gradient-based.hh

src/CMakeLists.txt

src/graph/graph.cc

src/graph/helper.cc

src/handle.cc

src/path-optimization/keypoints.cc

src/path-optimization/random-shortcut.cc

src/problem-solver.cc

src/problem.cc

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

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