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Humanoid Path Planner / hpp-manipulation
274 commits behind the upstream repository.
Florent Lamiraux
authored
- GraphComponent::numericalConstraints is virtual, - reimplemented in Edge a follows: - if edge is not initialized, call parent implementation, - otherwise return constraints that are in the solver. - The differences are that: 1. constraints and complements are replaced by explicit constraints, 2. constraints of the containing node are also returned.