This reverts commit 0d81bac3.

  - 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.

  Set error threshold for each internal edge to the value of the edge divided
  by the number of internal edges.

  -> generateTargetConfigOnLeaf.

  - reference ICRA 2017 paper.

  Make previous methods deprecated
  Rename Graph::configConstraint(EdgePtr_t) into targetConstraint.

  make old methods deprecated.
  This will homogeneize with hpp-manipulation-corba naming.

  - Implement method GraphPathValidation::setSecurityMargins.
  - Add method Edge::securityMarginForPair to set a security margin for
    a pair of joints along an edge.

  from is a python keyword. This is an issue when using python bindings.

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

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

* For n waypoints, the class contains n states and n+1 edges.
* The constraints of the WaypointEdge are not used.

  - make Node class as a deprecated typedef,
  - rename methods accordingly, making old methods deprecated.

Conflicts:
	src/graph/helper.cc