Fix and improve contact generation methods

humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."

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Closed pFernbach closed 5 years ago

pFernbach commented 5 years ago

Correctly try to replace the oldest contact first
fix tryReplaceState filtering method
addGoalState now add all intermediate states required without changing the last states of the list
add a member 'postureWeights' to fullBody and use it in the analysis ReferenceConfiguration