- replaced by pathOptimization::SplineGradientBased.

  - function g has disappeared.

  - locked joints are now handled as explicit constraints.

* Update to modification in class constraints::Explicit
  - constructors and create methods take a LiegroupSpace as input instead of a DevicePtr_t.
* Update to modifications in hpp::constraints::ExplicitConstraintSet
  - freeDers -> notOutDers,
  - derSize -> nv,
  - viewJacobian -> jacobianNotOutToOut.
* Migrate some methods and members from ConfigProjector to BySubstitution

  - constructors and create methods take a LiegroupSpace as input instead of
    a DevicePtr_t.

  - freeDers -> notOutDers,
  - derSize -> nv,
  - viewJacobian -> jacobianNotOutToOut.

  - the objective is to replace class ConfigProjector by BySubstitution.

  - core::ExplicitNumericalConstraints -> constraints::Explicit,
  - core::ImplicitFunction -> constraints::explicit_::Function.

  core::Equation, core::NumericalConstraints -> constraints::Implicit.

  Optimize a simple path without collisions.

Joseph Mirabel authored Jun 27, 2018 and Joseph Mirabel committed Jun 27, 2018

* in order to keep the frames