Test whether path is NULL even if roadmap builder return success. This should not
happen but seems to happen with ChppVisRdmBuilder (kwsPlus).
Test result of optimizer.
Copy path before inserting them in ChppProblem.

This should be useless since rdmBuilder already returns KD_OK or KD_ERROR, but two tests
are better than one.

A CkwsPlusStopRdmBuilderDelegate is created and stored in ChppPlanner.
Upon calling ChppPlanner::roadmapBuilderIthProblem(), the delegate is
passed to the input roadmap builder.

Calling ChppPlanner::interruptPathPlanning() will interrupt the current path
planning process.

configurations, add it in the roadmap.
Correction of a bug in ChppPlanner::solveOneProblem(). If the steering method between
initial and goal configurations returned NULL, the function crashed.

specify whether roadmap developed by roadmap builder should be displayed
in the interface.
Communication with interface is handled using notifications.

Correction of a confict.

Conflicts:

	ChangeLog

penetration

	Added remove functions for hppProblemVector

After the modifications, ChppProblem::obstacleList (inCollisionList) will replace list of obstacles. Before the modification, it just added the elements of the new list to the existing list. so, the following modification were done:
1- Add an attribute ,”attMapOuter”, to hppProblem
2- Add  a function “initMapOuter()” to hppProblem
3– Modify the constructors and also  obstacleList (inCollisionList) in hppProblem

	Remove reference to kwsPlusRoadmap.

Concerns only installation with --enable-body option.

behavior.

and ChppDevice are now implemented in hppModel.
WARNING: some methods and attribute names might have changed.

Resolved silly conflicts. (Conflicts are often silly).

in the inner object list.
Added virtual method ChppPlanner::initializeProblem() to enable customized initialization of objects
deriving from ChppPlanner.
Added functionalities to display a roadmap. Might be quickly obsolete.

Added API functions to display a roadmap in the interface.

implemented in ChppWalkPlanner can thus be called by Corba server.