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

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

Joseph Mirabel authored 9 years ago and Joseph Mirabel committed 9 years ago

This reverts commit 891ca966.

Joseph Mirabel authored 9 years ago and Joseph Mirabel committed 9 years ago

* old createPreGraspComplement is now deprecated.
* a new createPreGraspComplement without the shift argument is introduced.

Joseph Mirabel authored 10 years ago and Joseph Mirabel committed 10 years ago

* Remove classes Object, Robot - Class Device constains handles and grippers
* ProblemSolver use class Device

* TODO: Add collisions between the inner devices.

Joseph Mirabel authored 10 years ago and Joseph Mirabel committed 10 years ago

  The first included file should be the HH corresponding to the
CC to avoid missing headers in the HH file.

  #include <fcL/...> -> #include <hpp/fcl/...>

  #include <fcL/...> -> #include <hpp/fcl/...>

  rename handlePositionInJoint as objectPositionInJoint.

  - Handle includes a virtual method to define a grasp constraint
  - add a class AxialHandle that derives from Handle and that creates grasp
    constraints with free rotation around the x-axis of the handle.