Refactor constraints

  - refactoring of constraints.

  - use constraints::implicit::RelativePose and
    constraints::explicit_::RelativePose.

Joseph Mirabel authored 6 years ago and Joseph Mirabel committed 6 years ago

* Related to #44.

    core::NumericalConstraints -> constraints::Implicit
    core::Equation -> constraint::explicit
    core::ExplicitNumericalConstraints -> constraint::explicit
    core::LockedJoint -> constraints::LockedJoint

    Replace a few remaining deprecated symbols.

    core::NumericalConstraints -> constraints::Implicit
    core::Equation -> constraint::explicit
    core::ExplicitNumericalConstraints -> constraint::explicit
    core::LockedJoint -> constraints::LockedJoint

    hpp::constraints::HierarchicalIterativeSolver ->
      hpp::constraints::solver::HierarchicalIterative,
    hpp::constraints::HybridSolver -> hpp::constraints::solver::BySubstitution
    hpp::constraints::ExplicitSolver -> hpp::constraints::ExplicitConstraintSet

Remove assert in WaypointEdge::build.

  - when building edges by hand, this assert may fail eventhough the problem
    is well posed.

In WaypointEdge, do not create paths between 2 successive equal confi…

  - assert that if not equal, distance between 2 successive configuration is
    more than 1e-8.
  - this complies with hpp-core policy acording to which, a constraint does
    not modify a configuration if the configuration satisfies the constraint.

  Test had not been updated since version 3.