Add test-constraingraph only if dependency to hpp-model-urdf is triggered.

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

* Add method Graph::getNode (RoadmapNodePtr_t)

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

* Fix test-constraintgraph

  The steering method of the graph is copied in each edge.
  The steering method is used to create path related to an edge of the
  manipulation graph.
  In the current version, a SteeringMethodStraight instance is created by the
  ProblemSolver, but in the future, this will be parameterizable.

  - name setter is now deprecated.

  Constraints are now provided at path construction or copy.

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.