This package aims at dealing with systems subject to smooth non-linear equality constraints.

The main class hpp::constrained::ConfigProjector numerically projects an input configuration onto the sub-manifold of the configuration space defined by a set of non-linear constraints of type CjrlGikStateConstraint.

Two other classes derive from this latter:

• hpp::constrained::ConfigExtendor extends a configuration toward another configuration by remaining on the constrained submanifold.
• hpp::constrained::GoalConfigGenerator randomly samples the configuration space and projects each sample onto the submanifold defined by a goal task.