Change ConstraintSet to Constraint

include/hpp/manipulation/graph/edge.hh

@@ -46,7 +46,7 @@ namespace hpp {
           NodeWkPtr_t startState, endState;
 
           /// Set of constraints to be statisfied.
-          ConstraintSetPtr_t constraints_;
+          ConstraintPtr_t constraints_;
 
           /// Projectors ensuring that a path between q_near and q_proj is
           /// valid regarding the manipulation rules.

include/hpp/manipulation/graph/fwd.hh

@@ -35,8 +35,8 @@ namespace hpp {
       typedef std::vector < EdgePtr_t > Edges_t;
       typedef std::vector < NodeSelectorPtr_t > NodeSelectors_t;
 
-      typedef hpp::core::ConstraintSet ConstraintSet_t;
-      typedef hpp::core::ConstraintSetPtr_t ConstraintSetPtr_t;
+      typedef hpp::core::Constraint Constraint_t;
+      typedef hpp::core::ConstraintPtr_t ConstraintPtr_t;
       typedef hpp::core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
     } // namespace graph
   } // namespace manipulation

include/hpp/manipulation/graph/graph.hh

@@ -41,7 +41,7 @@ namespace hpp {
 
           /// A set of constraints that will always be used, for example
           /// stability constraints.
-          ConstraintSetPtr_t constraints_;
+          ConstraintPtr_t constraints_;
       }; // Class Graph
     } // namespace graph
   } // namespace manipulation

include/hpp/manipulation/graph/node.hh

@@ -47,7 +47,7 @@ namespace hpp {
           std::vector < EdgePtr_t > neighbors_;
 
           /// Set of constraints to be statisfied.
-          ConstraintSetPtr_t constraints_;
+          ConstraintPtr_t constraints_;
 
           /// A selector that will implement the selection of the next state.
           NodeSelectorPtr_t selector_;