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Commit c8d0ad0c authored by Mathieu Geisert (old)'s avatar Mathieu Geisert (old) Committed by Florent Lamiraux
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Change graspsMap key from string to DifferentialFunction. 

  add virtual function resetConstraints to deal with collisions.
  add virtual function addConstraintToConfigProjector to deal with gripper
  disable collisions in the ProblemSolver.
parent 12d9b5f9
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