pathProjector::Progressive does not work with time-varying right hand side

[florent-lamiraux]

hpp-core/src/path-projector/progressive.cc

Line 141 in e0363c5

if (!constraints->isSatisfied(q2)) return false;

and at other places, the constraints are evaluated without refering to the path parameter.
As a consequence the path projector returns false with paths built by steeringMethod::EndEffectorTrajectory.

@jmirabel : can you confirm this statement and tell me how you overcame this issue in past applications ?

[jmirabel]

Yes, the path projector will not work with a time-varying constraint. In the end, I was using the pathPlanner::EndEffectorTrajectory. It has an elementary path projection method built-in. Assuming a sufficiently large number of steps, I never encountered any problems.

There is no theoretical reason for PathProjector s not to handle time varying constraints. There are two practical reasons: implementation time and it was intended for a particular project.