ExplicitConstraintSet does not handle right hand side in Lie group.

[jmirabel]

This may be achieved by having the implicit right hand side be an element of the Lie group while the explicit right hand side is not.

[florent-lamiraux]

Is there a need for that ?

[jmirabel]

The LockedJoint s

[florent-lamiraux]

In the implicit formulation, the output values of function h are in a vector space for locked joints.
#109 makes documentation more accurate.

[jmirabel]

Thank you for having updated the documentation.

I had another use case independent of our current usage of HPP. At the moment, it isn't possible to use a time-varying constraint which would explicitly constraint a SE(3) element (a virtual frame the end-effector should follow).

We don't have to solve this but I think we should leave this open.