a separate name.  We cannot rely on overloading for different arguments,
because embedded and non-embedded tangent vectors may have the same type.

[[Imported from SVN: r7098]]

[[Imported from SVN: r7097]]

fix sign bug in the series expansion of sin(x/2)/x.  Thanks to Jonathan Youett for pointing this out

[[Imported from SVN: r7095]]

[[Imported from SVN: r7090]]

[[Imported from SVN: r7089]]

[[Imported from SVN: r7086]]

[[Imported from SVN: r7085]]

[[Imported from SVN: r7084]]

[[Imported from SVN: r7083]]

[[Imported from SVN: r7082]]

[[Imported from SVN: r7081]]

[[Imported from SVN: r7070]]

bugfix in thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument.  Now it produces the same result as the fd approximation at least in for S^1

[[Imported from SVN: r7066]]

[[Imported from SVN: r7065]]

[[Imported from SVN: r7064]]

[[Imported from SVN: r7063]]

[[Imported from SVN: r7062]]

[[Imported from SVN: r7061]]

[[Imported from SVN: r7060]]

[[Imported from SVN: r7058]]

[[Imported from SVN: r7057]]

So far this only works for a single rod and a single continuum

[[Imported from SVN: r7056]]

[[Imported from SVN: r7055]]

[[Imported from SVN: r7053]]

[[Imported from SVN: r7052]]

[[Imported from SVN: r7051]]

[[Imported from SVN: r7050]]

[[Imported from SVN: r7049]]

[[Imported from SVN: r7048]]

[[Imported from SVN: r7047]]

[[Imported from SVN: r7039]]

... instead of coordinates in the embedding space.  The usual problem
is that when working in the embedding space, a projection onto the
trust-region makes the iterate leave the tangent space.

[[Imported from SVN: r7035]]

[[Imported from SVN: r7034]]

[[Imported from SVN: r7033]]

[[Imported from SVN: r7030]]

[[Imported from SVN: r7029]]

[[Imported from SVN: r7024]]

[[Imported from SVN: r6928]]

[[Imported from SVN: r6921]]

moved the part of the Steklov-Poincare step that can handle continuum--continuum contact into a separate class and file

[[Imported from SVN: r6918]]