- add methods Graph::registerConstraints, isComplement
  - modify Edge::builConfigConstraints and Edge::buildPathConstraints in order
    to replace pairs of constraint and complement by full explicit relative
    transformations.

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* in:
* - LevelSetEdge::buildConfigConstraint
* - LevelSetEdge::buildHistogram

  - create a constraint merging a grasp constraint and its complement.

  for more clarity.

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* The behaviour is exactly the same as before the change in class
* WaypointEdge.
* In a near future, the TODO in src/graph/helper.cc will be fixed.

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* For n waypoints, the class contains n states and n+1 edges.
* The constraints of the WaypointEdge are not used.

Florent Lamiraux authored 7 years ago and Joseph Mirabel committed 7 years ago

  Thus locked joints can be handled in hpp-corbaserver.