Changes summary :

cleaning of all compilation warnings
fix errors in kinodynamic methods
improve performances of kinodynamic steering method
Shooter : only use the surfaces defined by the affordances to sample a random point in a triangle (great improvement of solving time in scenario with a lot of unused triangles)

Contact generation :

Try to add the goal configuration at the end of the contact plan while asserting that there is still only one contact variation between each configuration (modify previous configuration and add intermediate configuration if needed)
Add a reference configuration member in FullBody (initialized with the value of Device.neutralConfiguration)
Correctly update quaternion convention
Correctly check stability when generating the contact for the last free limb
minor tweak of heuristic