Merge pull request #236 from stack-of-tasks/master

CMakeLists.txt

bindings/python/contacts/contact-two-frame-positions.cpp

bindings/python/tasks/task-two-frames-equality.cpp

demo/demo_tsid_talos_gripper_closed_kinematic_chain.py

.../bindings/python/contacts/contact-two-frame-positions.hpp

include/tsid/bindings/python/contacts/contact-two-frames.hpp

include/tsid/bindings/python/contacts/expose-contact.hpp

include/tsid/bindings/python/formulations/formulation.hpp

include/tsid/bindings/python/tasks/expose-tasks.hpp

...e/tsid/bindings/python/tasks/task-two-frames-equality.hpp

include/tsid/contacts/contact-base.hpp

include/tsid/contacts/contact-two-frame-positions.hpp

include/tsid/tasks/task-two-frames-equality.hpp

src/contacts/contact-two-frame-positions.cpp

src/tasks/task-cop-equality.cpp

src/tasks/task-two-frames-equality.cpp