- add methods Graph::registerConstraints, isComplement
  - modify Edge::builConfigConstraints and Edge::buildPathConstraints in order
    to replace pairs of constraint and complement by full explicit relative
    transformations.

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

  Thus locked joints can be handled in hpp-corbaserver.

  Data are stored in the constraint graph. Clearing the roadmap also
  clears these data and make problem resolution re-entrant.

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

Conflicts:
	src/problem-solver.cc

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

* the edge are using the problem to get the GraphSteeringMethod
* the GraphSteeringMethod can create the underlying steering method

  in ProblemSolver map.

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

* StaticStabilityGravity -> ConvexShapeContact

  - also create complement constraint.

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

* rename Graph-discretized into Graph-Discretized