Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* they are already in hpp/manipulation/fwd.hh)

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.