ConstraintAnalytic API vs. ConstraintSparse API
Created by: joanvallve
The changes on the API from ConstraintAnalytic to ConstraintSparse will be important.
While the constructor can stay the same (the amount of StateBlocks* may be augmented), the operator() can not be virtual since the order of the parameters (the residual is the last one), also, it won't be templated.
Look at the proposed API in constraint_analytic.h and let's discuss from that base.