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Fix handling of obstacles in Problem, fix #247

  Formerly, when a PathValidation instance was passed to the problem, the
  instance was modified by adding all obstacles if instance was of
  type ObstacleUser.
  This wrong behavior has been suppressed. Insertion of obstacles has been
  moved to ProblemSolver class that creates empty PathValidation instances.

make ConstantCurvature::Wheels_t public for C++17

Without this, on GCC 11.1.0 & Boost 1.75.0:

/usr/lib/ccache/bin/g++ -DBOOST_ALL_NO_LIB -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SERIALIZATION_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=6 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -Dhpp_core_EXPORTS -I. -Iinclude -I../include -I../src -isystem $ROBOTPKG/include -isystem /usr/include/eigen3 -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion -fdiagnostics-color=always -fPIC -MD -MT CMakeFiles/hpp-core.dir/src/steering-method/constant-curvature.cc.o -MF CMakeFiles/hpp-core.dir/src/steering-method/constant-curvature.cc.o.d -o CMakeFiles/hpp-core.dir/src/steering-method/constant-curvature.cc.o -c ../src/steering-method/constant-curvature.cc
../src/steering-method/constant-curvature.cc: Dans l'instanciation de « void boost::serialization::serialize(Archive&, hpp::core::steeringMethod::ConstantCurvature::Wheels_t&, unsigned int) [with Archive = boost::archive::xml_oarchive] » :
/usr/include/boost/serialization/serialization.hpp:109:14:   requis par « void boost::serialization::serialize_adl(Archive&, T&, unsigned int) [with Archive = boost::archive::xml_oarchive; T = hpp::core::steeringMethod::ConstantCurvature::Wheels_t] »
/usr/include/boost/archive/detail/oserializer.hpp:153:40:   requis par « void boost::archive::detail::oserializer<Archive, T>::save_object_data(boost::archive::detail::basic_oarchive&, const void*) const [with Archive = boost::archive::xml_oarchive; T = hpp::core::steeringMethod::ConstantCurvature::Wheels_t] »
/usr/include/boost/archive/detail/oserializer.hpp:258:27:   requis par « static void boost::archive::detail::save_non_pointer_type<Archive>::save_standard::invoke(Archive&, const T&) [with T = hpp::core::steeringMethod::ConstantCurvature::Wheels_t; Archive = boost::archive::xml_oarchive] »
/usr/include/boost/archive/detail/oserializer.hpp:315:22:   requis par « static void boost::archive::detail::save_non_pointer_type<Archive>::invoke(Archive&, const T&) [with T = hpp::core::steeringMethod::ConstantCurvature::Wheels_t; Archive = boost::archive::xml_oarchive] »
/usr/include/boost/archive/detail/oserializer.hpp:539:18:   requis par « void boost::archive::save(Archive&, T&) [with Archive = boost::archive::xml_oarchive; T = const hpp::core::steeringMethod::ConstantCurvature::Wheels_t] »
/usr/include/boost/archive/detail/common_oarchive.hpp:71:22:   [ passe outre 15 contextes d'instanciation, utilisez -ftemplate-backtrace-limit=0 pour désactiver ]
/usr/include/boost/archive/detail/common_oarchive.hpp:71:22:   requis par « void boost::archive::detail::common_oarchive<Archive>::save_override(T&) [with T = const std::vector<hpp::core::steeringMethod::ConstantCurvature::Wheels_t>; Archive = boost::archive::xml_oarchive] »
/usr/include/boost/archive/basic_xml_oarchive.hpp:100:52:   requis par « void boost::archive::basic_xml_oarchive<Archive>::save_override(const boost::serialization::nvp<T>&) [with T = std::vector<hpp::core::steeringMethod::ConstantCurvature::Wheels_t>; Archive = boost::archive::xml_oarchive] »
/usr/include/boost/archive/detail/interface_oarchive.hpp:70:36:   requis par « Archive& boost::archive::detail::interface_oarchive<Archive>::operator<<(const T&) [with T = boost::serialization::nvp<std::vector<hpp::core::steeringMethod::ConstantCurvature::Wheels_t> >; Archive = boost::archive::xml_oarchive] »
/usr/include/boost/archive/detail/interface_oarchive.hpp:77:32:   requis par « Archive& boost::archive::detail::interface_oarchive<Archive>::operator&(const T&) [with T = boost::serialization::nvp<std::vector<hpp::core::steeringMethod::ConstantCurvature::Wheels_t> >; Archive = boost::archive::xml_oarchive] »
../src/steering-method/constant-curvature.cc:471:12:   requis par « void hpp::core::steeringMethod::ConstantCurvature::serialize(Archive&, unsigned int) [with Archive = boost::archive::xml_oarchive] »
../src/steering-method/constant-curvature.cc:475:7:   requis depuis ici
../src/steering-method/constant-curvature.cc:483:77: erreur: « struct hpp::core::steeringMethod::ConstantCurvature::Wheels_t » est privé dans ce contexte
  483 | void serialize (Archive & ar, hpp::core::steeringMethod::ConstantCurvature::Wheels_t& c, const unsigned int version)
      |                                                                             ^~~~~~~~
Dans le fichier inclus depuis ../src/steering-method/constant-curvature.cc:19:
../include/hpp/core/steering-method/constant-curvature.hh:184:16: note: déclaré privé ici
  184 |         struct Wheels_t {
      |                ^~~~~~~~

And 5 similar issues.

fix:
…/hpp-core/tests/roadmap-1.cc:298:20:   required from here
/usr/include/c++/10.2.0/bits/stl_function.h:386:20: erreur: no match for « operator< » (operand types are
« const std::weak_ptr<hpp::core::ConnectedComponent> » and
« const std::weak_ptr<hpp::core::ConnectedComponent> »)
  386 |       { return __x < __y; }
      |                ~~~~^~~~~

We don't need any ordering here.

Plus it's faster.

when joint_b is the universe.

  the method does nothing. Connection is performed by the
  algorithm itself.

By choosing direction of joint sequence

Fix compilation in debug mode.

  Explicit relative pose take values in R^3xSO(3) in the implicit formulation.

  Use method eval instead.