- replaced by pathOptimization::SplineGradientBased.

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

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

Joseph Mirabel authored May 29, 2018 and Joseph Mirabel committed May 31, 2018

configuration::Gaussian

  - remove useless variable jv = robot_->getJointVector ();

  ReedsAndSheppPath is now a PathVector. It is then easier to extract forward
  and backward motions.

  - for carlike vehicles going only backwards.

  Both steering methods now derive from a common class CarLike that handles
  common features like orientation of steering wheels.

  - Dubins steering method has been integrated from a BSD library found on
    github: https://github.com/AndrewWalker/Dubins-Curves.

  - Make Dichotomy and Progressive derive from a common class
    ContinuousCollisionChecking.

TODO : build the correct robot model for each test, and not the one from hppPinocchio()

TODO in partial-shortcut and config-optimization