Rename RelativeTransformationSE3 -> RelativeTransformationR3xSO3

  to comply with modification in hpp-constraints.

include/hpp/manipulation/fwd.hh

@@ -75,7 +75,8 @@ namespace hpp {
     typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
     typedef constraints::RelativePositionPtr_t RelativePositionPtr_t;
     typedef constraints::RelativeTransformation RelativeTransformation;
-    typedef constraints::RelativeTransformationSE3 RelativeTransformationSE3;
+    typedef constraints::RelativeTransformationR3xSO3
+    RelativeTransformationR3xSO3;
     typedef constraints::RelativeTransformationPtr_t
     RelativeTransformationPtr_t;
     typedef core::value_type value_type;

src/handle.cc

@@ -132,7 +132,7 @@ namespace hpp {
 	   gripper->objectPositionInJoint (), localPosition(),
            6 * constraints::EqualToZero);
       }
-      return Implicit::create (RelativeTransformationSE3::create
+      return Implicit::create (RelativeTransformationR3xSO3::create
          (n, robot (), gripper->joint (), joint (),
           gripper->objectPositionInJoint (), localPosition()),
 			       6 * constraints::EqualToZero, mask_);
@@ -153,7 +153,7 @@ namespace hpp {
               r->configSize(), r->numberDof (), n)), ComparisonTypes_t());
       } else {
         std::vector<bool> Cmask = complementMask(mask_);
-        return  Implicit::create (RelativeTransformationSE3::create
+        return  Implicit::create (RelativeTransformationR3xSO3::create
            (n, r, gripper->joint (), joint (),
             gripper->objectPositionInJoint (), localPosition()),
            6 * constraints::Equality, Cmask);
@@ -182,7 +182,7 @@ namespace hpp {
 	  (n, robot (), gripper->joint (), joint (),
 	   gripper->objectPositionInJoint (), localPosition(), comp);
       }
-      return Implicit::create (RelativeTransformationSE3::create
+      return Implicit::create (RelativeTransformationR3xSO3::create
          (n, robot (), gripper->joint (), joint (),
           gripper->objectPositionInJoint (), localPosition()),
          comp, std::vector <bool> (6, true));
@@ -197,7 +197,7 @@ namespace hpp {
         n = "Pregrasp_ " + maskToStr(mask_) + "_" + name ()
           + "_" + gripper->name ();
       ImplicitPtr_t result (Implicit::create
-         (RelativeTransformationSE3::create
+         (RelativeTransformationR3xSO3::create
           (n, robot(), gripper->joint (), joint (),
            M, localPosition()),
           6 * constraints::EqualToZero, mask_));