Graph::configConstraint and Graph::pathConstraint return a ConstraintSet

include/hpp/manipulation/graph/graph.hh

@@ -53,19 +53,19 @@ namespace hpp {
           /// Constraint to project onto the Nodes_t.
           /// \param the Nodes_t on which to project.
           /// \return The initialized projector.
-          virtual ConstraintPtr_t configConstraint (const Nodes_t& nodes);
+          virtual ConstraintSetPtr_t configConstraint (const Nodes_t& nodes);
 
           /// Constraint to project onto the same leaf as config.
           /// \param edges a list of edges defining the foliation.
           /// \param config Configuration that will initialize the projector.
           /// \return The initialized projector.
-          virtual ConstraintPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
+          virtual ConstraintSetPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
 
           /// Constraint to project a path.
           /// \param edges a list of edges defining the foliation.
           /// \param config Configuration that will initialize the constraint.
           /// \return The initialized constraint.
-          virtual ConstraintPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
+          virtual ConstraintSetPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
 
           /// Return the NodeSelector with the given name if any,
           /// NULL pointer if not found.

src/graph/graph.cc

@@ -101,7 +101,7 @@ namespace hpp {
         return NodeSelectorPtr_t();
       }
 
-      ConstraintPtr_t Graph::configConstraint (const Nodes_t& nodes)
+      ConstraintSetPtr_t Graph::configConstraint (const Nodes_t& nodes)
       {
         ConstraintSetPtr_t constraint = ConstraintSet::create (robot (), name ());
 
@@ -120,7 +120,7 @@ namespace hpp {
         return constraint;
       }
 
-      ConstraintPtr_t Graph::configConstraint (const Edges_t& edges, ConfigurationIn_t config)
+      ConstraintSetPtr_t Graph::configConstraint (const Edges_t& edges, ConfigurationIn_t config)
       {
         ConstraintSetPtr_t constraint = ConstraintSet::create (robot (), name ());
 
@@ -144,7 +144,7 @@ namespace hpp {
         return constraint;
       }
 
-      ConstraintPtr_t Graph::pathConstraint (const Edges_t& edges, ConfigurationIn_t config)
+      ConstraintSetPtr_t Graph::pathConstraint (const Edges_t& edges, ConfigurationIn_t config)
       {
         ConstraintSetPtr_t constraint = ConstraintSet::create (robot (), name ());