Identical files between "constraint" and "motion-subspace"

[EtienneAr]

Hello,

While debugging some feature, I realized that the following files were identical :

• include/pinocchio/multibody/constraint-base.hpp and include/pinocchio/multibody/joint-motion-subspace-base.hpp
• include/pinocchio/multibody/constraint-generic.hpp and include/pinocchio/multibody/joint-motion-subspace-generic.hpp
• include/pinocchio/serialization/joints-constraint.hpp and include/pinocchio/serialization/joints-motion-subspace.hpp

Is it intentional ? I am guessing it is oversight of the renaming from "constraint" to "motion subspace" because the "constraint" files are used nowhere now.

Should the "constraint" files be removed ?

[jcarpent]

Yes, they should have been removed before the release of Pinocchio 3, but we have forgotten to do it. constraint name choice was not good. We can then remove these files.

Thanks a lot @EtienneAr for raising this issue.