Release v4.10.1

Changes since v4.9.0:

• ConvexShapeContact classes have been improved.
  • stable position of objects is now unique for any right hand side value of
    the complement constraint.
• Use cmake to handle dependencies (cmake submodule).
• Architecture of constraint classes has been simplified.
• Use Romeo instead of Baxter in tests.
• Enable users to use GenericTransformation with a joint2 equal to 0x0.
• Add serialization functions.