* TaskTwoFramesEquality and ContactTwoFramePositions added with appropriate bindings. 

* getMotionTask type changed from TaskSE3Equality to TaskMotion to allow contacts use different motion tasks, not only TaskSE3Equality

* python demo of talos gripper with closed kinematic chain, using URDF/STLs in external repo


---------
Authored-by: @egordv 

for more information, see https://pre-commit.ci

* [pre-commit] Add clang-format Google style.

* [pre-commit] Add flag to ignore sorting of includes.

* [pre-commit] Apply clang-format following Google style and ignoring includes sorting.

* [git-blame-ignore-revs] Add commit applying google style and avoid sort include.

* ci: fix potential issue related to recent update of industrial_ci

---------

Co-authored-by: Olivier Stasse <olivier.stasse@laas.fr>
Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

for more information, see https://pre-commit.ci

fix on 18.04:
Traceback (most recent call last):
  File ".../tests/python/test_Tasks.py", line 268, in <module>
    from models.arm.generator import create_7dof_arm
ImportError: No module named models.arm.generator

* Fix JointPostureTask::compute difference
* Add tests
* Add `nq_actuated` to Robot Wrapper

Authored-by: EtienneAr <earlaud@pl346-pro.paris.inria.fr-1>

* add qpmad solver
* add access to qpmad solver parameters

Authored by ivanbergonzani 

[python] Fix syntax warning in test_constraint.py, which was using 'is not' with a literal, instead of !=

* generic Vector type was added to libeigen-3.4.0 with:
  https://gitlab.com/libeigen/eigen/-/commit/2a39659d793fcde656593bbf01948bc0bd568181



* fixes:
FAILED: tests/CMakeFiles/tasks.dir/tasks.cpp.o
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot-native/usr/bin/i686-webos-linux/i686-webos-linux-g++ -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DEIGEN_RUNTIME_NO_MALLOC -DPINOCCHIO_WITH_URDFDOM -I/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/build -I/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/build/include -I/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include -isystem /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3 -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0=/usr/src/debug/tsid/1.6.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0=/usr/src/debug/tsid/1.6.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -m32 -march=core2 -mtune=core2 -msse3 -mfpmath=sse -fstack-protector-strong  -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot  -DBOOST_TEST_DYN_LINK -DBOOST_TEST_MODULE=tasksTest '-DTSID_SOURCE_DIR="/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git"' -MD -MT tests/CMakeFiles/tasks.dir/tasks.cpp.o -MF tests/CMakeFiles/tasks.dir/tasks.cpp.o.d -o tests/CMakeFiles/tasks.dir/tasks.cpp.o -c /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_se3_equality::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:103:5: error: reference to 'Vector' is ambiguous
  103 |     Vector dv = Jpinv * constraint.vector();
      |     ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:106:18: error: 'dv' was not declared in this scope; did you mean 'div'?
  106 |     if(!isFinite(dv))
      |                  ^~
      |                  div
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:111:20: error: 'dv' was not declared in this scope; did you mean 'div'?
  111 |     REQUIRE_FINITE(dv.transpose());
      |                    ^~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:111:5: note: in expansion of macro 'REQUIRE_FINITE'
  111 |     REQUIRE_FINITE(dv.transpose());
      |     ^~~~~~~~~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:113:13: error: 'dv' was not declared in this scope; did you mean 'div'?
  113 |     v += dt*dv;
      |             ^~
      |             div
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_com_equality::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:162:3: error: reference to 'Vector3' is ambiguous
  162 |   Vector3 com_ref = data.com[0] + pinocchio::SE3::Vector3(0.02,0.02,0.02);
      |   ^~~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:541:1: note: candidates are: 'template<class Type> using Vector3 = Eigen::Matrix<Type, 3, 1>'
  541 | EIGEN_MAKE_TYPEDEFS(3, 3)
      | ^~~~~~~~~~~~~~~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:42:39: note:                 'typedef class Eigen::Matrix<double, 3, 1> tsid::math::Vector3'
   42 |     typedef Eigen::Matrix<Scalar,3,1> Vector3;
      |                                       ^~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:163:70: error: 'com_ref' was not declared in this scope
  163 |   TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_com", com_ref);
      |                                                                      ^~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:183:5: error: reference to 'Vector' is ambiguous
  183 |     Vector dv = Jpinv * constraint.vector();
      |     ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:186:28: error: 'dv' was not declared in this scope; did you mean 'div'?
  186 |     BOOST_REQUIRE(isFinite(dv));
      |                            ^~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:188:13: error: 'dv' was not declared in this scope; did you mean 'div'?
  188 |     v += dt*dv;
      |             ^~
      |             div
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_joint_posture::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:231:3: error: reference to 'Vector' is ambiguous
  231 |   Vector q_ref = Vector::Random(na);
      |   ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:232:72: error: 'q_ref' was not declared in this scope
  232 |   TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_joint", q_ref);
      |                                                                        ^~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:255:5: error: reference to 'Vector' is ambiguous
  255 |     Vector dv = Jpinv * constraint.vector();
      |     ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/Core:295,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/eigen3/Eigen/src/Core/Matrix.h:551:7: note: candidates are: 'template<class Type, int Size> using Vector = Eigen::Matrix<Type, Size, 1>'
  551 | using Vector = Matrix<Type, Size, 1>;
      |       ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/utils.hpp:21,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:23:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/include/tsid/math/fwd.hpp:37:52: note:                 'typedef class Eigen::Matrix<double, -1, 1> tsid::math::Vector'
   37 |     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
      |                                                    ^~~~~~
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:258:28: error: 'dv' was not declared in this scope; did you mean 'div'?
  258 |     BOOST_REQUIRE(isFinite(dv));
      |                            ^~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:260:13: error: 'dv' was not declared in this scope; did you mean 'div'?
  260 |     v += dt*dv;
      |             ^~
      |             div
In file included from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/test_tools.hpp:45,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/recipe-sysroot/usr/include/boost/test/unit_test.hpp:18,
                 from /jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:20:
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_joint_bounds::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:312:34: warning: comparison of integer expressions of different signedness: 'unsigned int' and 'Eigen::Index' {aka 'int'} [-Wsign-compare]
  312 |     BOOST_CHECK(constraint.rows()==(Eigen::Index)robot.nv());
      |                 ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp: In member function 'void tasksTest::test_task_joint_posVelAcc_bounds::test_method()':
/jenkins/mjansa/build/ros/webos-melodic-honister/tmp-glibc/work/qemux86-webos-linux/tsid/1.6.0-1-r0/git/tests/tasks.cpp:364:34: warning: comparison of integer expressions of different signedness: 'unsigned int' and 'Eigen::Index' {aka 'int'} [-Wsign-compare]
  364 |     BOOST_CHECK(constraint.rows()==(Eigen::Index)robot.na());
      |                 ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
ninja: build stopped: subcommand failed.

Signed-off-by: Martin Jansa <martin.jansa@lge.com>

* Refactor TrajectorySample::pos, vel, acc to value, derivative, second_derivative

* [Tests] update tests to refactor of TrajectorySample

* Task-am-equality: correctly use reference value/derivative instead of derivative/second_derivative
Fix #77

* [Python] update python bindings of TrajectorySample

* [Python] deprecate TrajectorySample.{pos,vel,acc}

* [Tests] python < 3.2 doesn't have assertWarns

* trajectory: keep deprecated pos/vel/acc, add updated getters / setters instead

* [CMake] install macros.hpp

Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>

Try to fix this warning:
tsid/tests/tasks.cpp: In member function ‘void tasksTest::test_task_joint_bounds::test_method()’: /home/rascof/tsid/tests/tasks.cpp:312:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] BOOST_CHECK(constraint.rows()==robot.nv()); ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ tsid/tests/tasks.cpp: In member function ‘void tasksTest::test_task_joint_posVelAcc_bounds::test_method()’: tsid/tests/tasks.cpp:364:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] BOOST_CHECK(constraint.rows()==robot.na()); ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~

Fix solver-HQP-base.hpp without virtual destructor.
Thanks to JB Mouret who reported the bug.
Fix #103

* Function setGravity added

Co-authored-by: Aurélie Bonnefoy <abonnefoy@laas.fr>

Following https://github.com/stack-of-tasks/pinocchio/pull/1220, some
Data can't be const anymore.

This commit just removed const until compilation succedded again.

Add task to handle joint position-velocity-acceleration bounds using the algorithm explained in "Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators." IEEE RAL, https://hal.archives-ouvertes.fr/hal-01356989/document


Authored-by: eloise <eloise.dalin@inria.fr>

But this still need a lot of cleaning:
- use numpy arrays
- use the unittest module instead of asserts