From 648cf210dac4d6a84ce60fe0bb5524e97fb12785 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 18 Sep 2015 19:29:15 +0200
Subject: [PATCH] Work in progress
---
include/hpp/manipulation/problem-solver.hh | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 3d7466c..042da6d 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -93,6 +93,14 @@ namespace hpp {
/// return NULL if no grasp named graspName
GraspPtr_t grasp(const DifferentiableFunctionPtr_t& constraint) const;
+ /// Create placement constraint
+ /// \param name name of the first constraint
+ ///
+ void createPlacementConstraint (const std::string& name,
+ const std::string& jointName,
+ const std::string& triangleName,
+ const std::string& envContactName);
+
/// Reset constraint set and put back the disable collisions
/// between gripper and handle
virtual void resetConstraints ();
--
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