- 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

Joseph Mirabel authored Apr 20, 2016 and Joseph Mirabel committed Apr 20, 2016

* Add a constructor giving full control to the user,
* Add a constructor taking the 2 firsts joints as XY and RZ,
* Remove the need for Device::jointGroup

Joseph Mirabel authored Jan 28, 2016 and Joseph Mirabel committed Apr 05, 2016

* and its two children GoalConfigurations and TaskTarget

  This new class is a generalization of DiscretizedCollisionChecking.
  The class stores config validation objects and apply them at discretized
  values of the path parameter.

  DiscretizedCollisionChecking now derives from DiscretizedPathValidation.
  Warning: deprecated methods have not been implemented.

  - explicit numerical constraints is a type of constraints such that some
    configuration variables can be expressed with respect to the other ones.
    Resolution is thus straightforward since it does not require numerical
    resolution in several steps.

Conflicts:
	CMakeLists.txt

Joseph Mirabel authored Jan 14, 2015 and Joseph Mirabel committed Jan 14, 2015

  * Add new pure virtual class Equation.
  * Add class NumericalConstraint, containing a DifferentiableFunction,
    an ComparisonType and a rightHandSide.
  * NumericalConstraint and LockedJoint inherits from Equation.
  * LockedJoint are excusively handled by ConfigProjector and not by
    ConstraintSet.