com-rrt : com constraint not working

[pFernbach]

The method CreateComConstraint called during the execution of com-rrt doesn't seems to work. It looks like the target for the CoM position is always (0,0,0). I will try to investigate a little more and edit this issue.

See commit 9bf49d7 that disable this constraint (temporary commit to make the com-rrt work).

[pFernbach]

I tried to update this, see branch https://github.com/pFernbach/hpp-rbprm/tree/topic/com_constraint

The issue mentioned above is fixed, but the constraints seems to be ignored now, or at least there is a really large error along the path. (see the new unit test).

A lot of code about the time-dependant constraint should be removed to use the new features in hpp::core::Path before trying to investigate more on this problem.