Member hpp::manipulation::graph::helper::graspManifold (const GripperPtr_t &gripper, const HandlePtr_t &handle, FoliatedManifold &grasp, FoliatedManifold &pregrasp): when the handle is a free flying object, add the robot DOFs as passive dofs to the numerical constraints for paths
Member hpp::manipulation::Problem::pathValidationFactory () const: Keep a pointer to this value to update it when a new obstacle is added.