- 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.

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

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

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.

  Device now derives from Container <FrameIndexes_t> and stores vectors of
  frame indices instead of joint indices. Update construction of graph
  accordingly.

  - make Node class as a deprecated typedef,
  - rename methods accordingly, making old methods deprecated.

Conflicts:
	src/graph/helper.cc