in ProblemSolver map.

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

* move template downward to GraphOptimizer::create

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

* ConstraintSet knows which Edge built it (when relevant)
* Fix weak pointers of LevelSetEdge and WaypointEdge

  - Make 2 GraphPathValidation::validate deprecated, and
  - implement a new one that takes a reference to a PathValidationReportPtr_t
    as input,
  - update code accordingly.

Joseph Mirabel authored 10 years ago and Joseph Mirabel committed 10 years ago

* Remove classes Object, Robot - Class Device constains handles and grippers
* ProblemSolver use class Device

* TODO: Add collisions between the inner devices.

Joseph Mirabel authored 10 years ago and Joseph Mirabel committed 10 years ago

  * Rename LockedDof in LockedJoint
  * Use NumericalConstraint instead of DiffFuncAndIneqPair
  * Make old methods deprecated.
  * Always add a ConfigProjector to ConstraintSet.

  Add validation report classes for config and path validations.

  #include <fcL/...> -> #include <hpp/fcl/...>

  Add validation report classes for config and path validations.

  #include <fcL/...> -> #include <hpp/fcl/...>

  add virtual function resetConstraints to deal with collisions.
  add virtual function addConstraintToConfigProjector to deal with gripper
  disable collisions in the ProblemSolver.

  - Handle includes a virtual method to define a grasp constraint
  - add a class AxialHandle that derives from Handle and that creates grasp
    constraints with free rotation around the x-axis of the handle.

  - map has been trasferred to core::ProblemSolver.