[constraint] Refactoring - #350
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- add lambda and delta to base constraint class - add getter - add bindings - add resize contraints method
EulalieCoevoet
marked this pull request as draft
August 11, 2026 12:32
HanaeRateau
suggested changes
Aug 17, 2026
EulalieCoevoet
marked this pull request as ready for review
August 17, 2026 09:01
HanaeRateau
approved these changes
Aug 17, 2026
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In this PR, for the constraints:
SoftRobotsBaseConstraintd_deltaandd_lambdainSoftRobotsBaseConstraintinstead of redefining them in each constraint (set to deprecated). Also added a method to rename the data if needed (e.g. pressure instead of force).SoftRobotsBaseConstrainta method to resize the constraint vectors (default size is 1)d_deltaandd_lambdaarereadOnlyand in groupOutput