GitLab

Fix ConvexShapeContactComplement

  - add an assert.

  Methods acting on right hand side of Implicit are now deprecated,
  Implicit::rightHandSideFromConfig now takes the resulting right hand side
  as a parameter.
  Computation of right hand side in solvers have been moved to Implicit class.

  for more accuracy.

  instead of BySubstitution. The operator calls virtual method print.

  mask are stored but not yet taken into account
  tests pass.

  - implicit formulation of explicit constraints handled by
    ExplicitConstraintSet may take values in a Lie group, not anymore only in
    a vector space.