to comply with modification in hpp-constraints.

  RelativeTransformation -> RelativeTransformationSE3 with mask.

  - methods formerly taking a const reference to Problem as input now take
    a shared pointer to const Problem.

  - create one solver by waypoint,
  - detect for each parameterizable constraint and each waypoint if
    - the right hand side is equal to the right hand side for initial config,
    - the right hand side is equal to the right hand side for goal config,
    - the right hand side is equal to the right hand side for previous waypoint.
  - iteratively solve waypoints after initializing right hand sides.

* The implementation has never been completed.

    core::NumericalConstraints -> constraints::Implicit
    core::Equation -> constraint::explicit
    core::ExplicitNumericalConstraints -> constraint::explicit
    core::LockedJoint -> constraints::LockedJoint

  - copy paste and adapt code of hpp::core::ConnectedComponent.

  - 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.

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

  Thus locked joints can be handled in hpp-corbaserver.

  Device now derives from Container <FrameIndexes_t> and stores vectors of
  frame indices instead of joint indices. Update construction of graph
  accordingly.