[all] Various changes relative to the constraint matrix

[alxbilger]

• LinearSolverConstraintCorrection::F is deprecated because it is not used. I believe it stopped to be used here: 50fe60f#diff-b0264445a2a81f648e146f0b1d59d5d197cf3a935f3b7cbb24af11a38b8e6e68L433
• override keyword was missing in ~LinearSolverConstraintCorrection
• LinearSolverConstraintCorrection::J is renamed to m_constraintMatrix. Its floating-type is no longer SReal, but Real. In theory, it's breaking.
• computeJ is no longer used. Instead, I introduce the method convertConstraintMatrix, which is IMO clearer. computeJ could be removed I think. But for some reasons it is virtual. Anyone overrides it?
• Added a timer in convertConstraintMatrix. This must be used for benchmark to evaluate the cost of the conversion. I believe that we can think of a way to avoid the conversions (only if it costs too much).
• MatrixLinearSolverInternalData::copyJmatrix is renamed to convertMatrix and it is now protected.
• Made getLocalJ clearer.
• Added details for addJMInvJt
• Introduced rebind types for CompressedRowSparseMatrixConstraint, CompressedRowSparseMatrixGeneric and CompressedRowSparseMatrixMechanical
• CompressedRowSparseMatrixConstraint: added test for the stream operator. The operator no longer adds trailing spaces on each line.
• Better iterators in CompressedRowSparseMatrixConstraint
• Missing header guard in CompressedRowSparseMatrixConstraintEigenUtils.h
• Fixed operator() in CompressedRowSparseMatrixToEigenSparseVec. Also added error message if out-of-bounds. Required for Access to the constraint matrix SofaPython3#459
• Introduction of is_specialization_of. Used in a SofaPython3 PR

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[fredroy]

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[alxbilger]

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