[[Imported from SVN: r8330]]

[[Imported from SVN: r8277]]

[[Imported from SVN: r8261]]

[[Imported from SVN: r8234]]

[[Imported from SVN: r7960]]

[[Imported from SVN: r7868]]

[[Imported from SVN: r7867]]

[[Imported from SVN: r7843]]

[[Imported from SVN: r7837]]

[[Imported from SVN: r7611]]

notably the almost-equivalent UnitVector<4>: A vector with three entries
is interpreted by the UnitVector<4> class as a tangent vector given in
the basis returned by orthonormalFrame.  That is correct as it works
for all kinds of manifolds.  On the other hand, the Rotation<3> class
interprets as a 3x3 skew matrix (a tangent vector at the identity in
the matrix representation) even though the implementation used quaternion
coordinates.

To trick around this the use of exp methods with FieldVector<3> is avoided
by this patch.  A real fix would involve introducing a SkewMatrix class
and using that in Rotation<3>.

[[Imported from SVN: r7575]]

[[Imported from SVN: r7554]]

[[Imported from SVN: r7430]]

[[Imported from SVN: r7428]]

[[Imported from SVN: r7366]]

[[Imported from SVN: r7365]]

[[Imported from SVN: r7354]]

[[Imported from SVN: r7034]]

[[Imported from SVN: r6542]]

remove the possibility to solve the inner problem with a truncated cg.  It never really worked and complicates the code

[[Imported from SVN: r5951]]

[[Imported from SVN: r5938]]

[[Imported from SVN: r5931]]

[[Imported from SVN: r5927]]

[[Imported from SVN: r5347]]

[[Imported from SVN: r5023]]

[[Imported from SVN: r4972]]

[[Imported from SVN: r4876]]

[[Imported from SVN: r4197]]

[[Imported from SVN: r4176]]

[[Imported from SVN: r4131]]

[[Imported from SVN: r4115]]

new method to setup a solver using a truncated cg as the inner solver.  This compiles, but it doesn't work yet

[[Imported from SVN: r4105]]

[[Imported from SVN: r4104]]

[[Imported from SVN: r4103]]

make the inner solver a pointer to a generic Solver class, in anticipation of using a truncated cg there

[[Imported from SVN: r4102]]

[[Imported from SVN: r4063]]

[[Imported from SVN: r4050]]

[[Imported from SVN: r4049]]

RodSolver is now called RiemannianTrustRegionSolver, and can be parametrized with the TargetSpace.  Some remains of RigidBodyMotion are still there, though.

[[Imported from SVN: r4041]]

[[Imported from SVN: r4040]]