4.0.2

Changelog from version 4.0.1 to 4.0.2:

015dc49 new version 4.0.2
c86b6a3 fixing macros using pybind and setting EventsExecutor for Kilted and Rolling
475de8b fixing code format
bfae55b using macros for EventsExecutors
47aec39 fixing python comments
3f3a758 improving comments in C++
80e3257 removing directory in yasmin
991ebef fixing comments in blackboard
82f875d removing blackboard_value to simplify blackboard