[ConfigProjector] Add method isSatisfied with input error threshold.

include/hpp/core/config-projector.hh

@@ -261,8 +261,16 @@ namespace hpp {
       /// @}
 
       /// Check whether a configuration statisfies the constraint.
+      /// \param config the configuration to test,
       virtual bool isSatisfied (ConfigurationIn_t config);
 
+      /// Check whether a configuration statisfies the constraint.
+      /// \param config the configuration to test,
+      /// \param errorThreshold the threshold the norm of each constraint should
+      ///        stay below.
+      virtual bool isSatisfied (ConfigurationIn_t config, value_type
+				errorThreshold);
+
       /// Check whether a configuration statisfies the constraint.
       ///
       /// \param config the configuration to check

src/config-projector.cc

@@ -276,6 +276,12 @@ namespace hpp {
       return solver_->isSatisfied (config);
     }
 
+    bool ConfigProjector::isSatisfied (ConfigurationIn_t config,
+				       value_type errorThreshold)
+    {
+      return solver_->isSatisfied (config, errorThreshold);
+    }
+
     bool ConfigProjector::isSatisfied (ConfigurationIn_t config,
 				       vector_t& error)
     {