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

* Duplicates were not always removed depending on their order.

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

  check that the end configuration satisfies the constraint of the path.

Add first version of steering method CrossStateOptimization

  - 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.

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

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

* in:
* - LevelSetEdge::buildConfigConstraint
* - LevelSetEdge::buildHistogram

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

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

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

  for more clarity.