Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* See FIXME for more info

  - Graph::getConfigErrorForEdgeLeaf.

  - this constraint is aimed at being used in edge constraints where it needs
    to be parameterizable.

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* When a histogram is inserted, add all the current nodes to this
* histogram.

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* follows 264dc73e

  - the method calls rightHandSideFromConfig with the input configuration and
  - isSatisfied to get the error vector.

  - throw if initial configuration does not satisfy the constraint,
  - build steering method is required before building path.

  - in ManipulationPlanner::extend.
  - the difference with eigen method isApprox is that quaternions and opposite
    reprensent the same rotation.

This reverts commit 5a357d1a.

Conflicts:
	src/manipulation-planner.cc

contacts

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

Conflicts:
	src/problem-solver.cc