[[Imported from SVN: r6717]]

This class should centralize some of the logistics needed for the knee
models and similar stuff.  Eventually, domain decomposition solvers should
be able to work on this data structure.  That is still a way off, though.

[[Imported from SVN: r6716]]

[[Imported from SVN: r6715]]

[[Imported from SVN: r6714]]

[[Imported from SVN: r6708]]

[[Imported from SVN: r6707]]

add a dummy method derivativeOfDistanceSquaredWRTSecondArgument.  Only throws an exception.  The implementation will follow later

[[Imported from SVN: r6706]]

[[Imported from SVN: r6705]]

[[Imported from SVN: r6704]]

[[Imported from SVN: r6703]]

[[Imported from SVN: r6697]]

[[Imported from SVN: r6677]]

[[Imported from SVN: r6676]]

This is a snapshot commit.  It compiles, but I haven't actually dared
to run it yet.

[[Imported from SVN: r6675]]

[[Imported from SVN: r6674]]

[[Imported from SVN: r6673]]

[[Imported from SVN: r6672]]

[[Imported from SVN: r6671]]

[[Imported from SVN: r6670]]

[[Imported from SVN: r6669]]

[[Imported from SVN: r6668]]

Kinda stupid... but the new implementation is shorter, and it is merged into the old
method.

[[Imported from SVN: r6599]]

It was a RigidBodyMotion before, but the rotation part of that was
ignored.  Semantically it is just a position, hence a FieldVector
is better.

[[Imported from SVN: r6598]]

[[Imported from SVN: r6597]]

[[Imported from SVN: r6596]]

Only Dirichlet-Neumann is complete and appears to work, but it is
not really tested yet.

[[Imported from SVN: r6593]]

These are needed for general Steklov-Poincare methods.

[[Imported from SVN: r6592]]

set IPOpt print_level to 0 if Solver::QUIET is requested.  Negative values appear not to be allowed anymore

[[Imported from SVN: r6591]]

transpose one gradient matrix.  This makes the code run, but it still doesn't work even for RealTuple<1>

[[Imported from SVN: r6547]]

[[Imported from SVN: r6546]]

[[Imported from SVN: r6545]]

[[Imported from SVN: r6544]]

[[Imported from SVN: r6543]]

[[Imported from SVN: r6542]]

[[Imported from SVN: r6541]]

[[Imported from SVN: r6540]]

[[Imported from SVN: r6539]]

[[Imported from SVN: r6538]]

[[Imported from SVN: r6514]]

[[Imported from SVN: r6510]]