Device now derives from Container <FrameIndexes_t> and stores vectors of
  frame indices instead of joint indices. Update construction of graph
  accordingly.

  - make Node class as a deprecated typedef,
  - rename methods accordingly, making old methods deprecated.

Conflicts:
	src/graph/helper.cc

  - Graph::getConfigErrorForEdgeLeaf.

  - the method calls rightHandSideFromConfig with the input configuration and
  - isSatisfied to get the error vector.