[numerics] add iterations for convergence of NM methods on rigid systems
[numerics] add iterations for convergence of NM methods on rigid systems

radarsat1/siconos,radarsat1/siconos,fperignon/siconos,fperignon/siconos,siconos/siconos,bremond/siconos,fperignon/siconos,radarsat1/siconos,siconos/siconos,radarsat1/siconos,bremond/siconos,bremond/siconos,siconos/siconos,fperignon/siconos,bremond/siconos,radarsat1/siconos,fperignon/siconos,bremond/siconos,siconos/siconos