/// \param filterStates If different than 0, the resulting state list will be filtered to remove unnecessary states
/// \param testReachability : if true, check each contact transition with our reachability criterion
/// \param quasiStatic : if True, use our reachability criterion with the quasiStatic constraint
floatSeqSeq interpolate(in double timestep, in double path, in double robustnessTreshold, in unsigned short filterStates, in boolean testReachability, in boolean quasiStatic) raises (Error);
floatSeqSeq interpolate(in double timestep, in double path, in double robustnessTreshold, in unsigned short filterStates, in boolean testReachability, in boolean quasiStatic, in boolean erasePreviousStates) raises (Error);
/// Provided a path has already been computed, interpolates it and generates the statically stable
/// constact configurations along it. setStartState and setEndState must have been called prior
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@@ -382,7 +382,7 @@ module hpp
/// \param filterStates If different than 0, the resulting state list will be filtered to remove unnecessary states
/// \param testReachability : if true, check each contact transition with our reachability criterion
/// \param quasiStatic : if True, use our reachability criterion with the quasiStatic constraint
floatSeqSeq interpolateConfigs(in floatSeqSeq configs, in double robustnessTreshold, in unsigned short filterStates,in boolean testReachability, in boolean quasiStatic) raises (Error);
floatSeqSeq interpolateConfigs(in floatSeqSeq configs, in double robustnessTreshold, in unsigned short filterStates,in boolean testReachability, in boolean quasiStatic, in boolean erasePreviousStates) raises (Error);
/// returns the CWC of the robot at a given state
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@@ -670,6 +670,10 @@ module hpp
/// \return whether the limb is in contact at this state
short computeIntermediary(in unsigned short state1, in unsigned short state2) raises (Error);
/// Compute the number of computed states
/// \return the number of computed states
short getNumStates() raises (Error);
/// Saves the last computed states by the function interpolate in a filename.
/// Raises an error if interpolate has not been called, or the file could not be opened.
/// \param filename name of the file used to save the contacts.