- test that output configuration variables are not locked,
  - do not apply constraint if error is below threshold.

  - testing equality is not relevant since quaternion are equivalent to their
    opposite quaternion.

  - insert class in group Constraints.

  - output derivative size may be different from output size.

  - use Path::operator () that takes a boolean as ouput,
  - cast into std::size_t.

  - note that LockedJoint::copy has been modified.

Joseph Mirabel authored Oct 27, 2015 and Joseph Mirabel committed Oct 27, 2015

* eigen.hh -> svd.hh

Joseph Mirabel authored Oct 23, 2015 and Joseph Mirabel committed Oct 23, 2015

Conflicts:
	src/config-projector.cc

  - 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.