Add constraints: movable polygon

[708yamaguchi]

I add

• constraints to limit robot' base movable polygon.
• visualization of the movable polygon
• test movable polygon

I do not have confidence in how to add base constraints... Could you give me any advice? @HiroIshida https://github.com/HiroIshida/yamaopt/commit/0c36760ebe40e05fbe9126388741b5aef7f18c2f#diff-170e94d0e06d6b25b36d255e6b99d511f3e5dcd0efbc8a7e34bb5b1d8c267f2eR136-R146

example.py	no limit	base limit

example_multi.py	no limit	base limit

[HiroIshida]

@708yamaguchi Nice new feature! Could you add a test for jacobian computation of base_constraint_from_polygon in https://github.com/HiroIshida/yamaopt/blob/be79084eb5db9e66d88485305b9cc31e36bd906f/tests/test_solver.py#L45 like the test for configuration constraint in https://github.com/HiroIshida/yamaopt/blob/be79084eb5db9e66d88485305b9cc31e36bd906f/tests/test_solver.py#L63 ?

[708yamaguchi]

ok!

I will do tomorrow!

[708yamaguchi]

Thank you for your review!

I add test in 0058d32 (#29)