Member gocra::GHCJTController::doAddContactSet (const ContactSet &contacts): this method has not been implemented!!!
Member gocra::GHCJTTask::doSetWeight (): the getWeight() method of the task returns a matrix, but the setWeight() method of the objective requires a double value. I don't really know how to cope with this problem. For now the first value of the matrix is used.
Member ocra::ContactAvoidanceFunction::updateb () const: It should be conform to the ocra framework, the computation of the vector should be here.
Member ocra::ContactAvoidanceFunction::updateJacobian () const: It should be conform to the ocra framework, the computation of the jacobian should be here.
Member wocra::WocraController::doAddContactSet (const ContactSet &contacts): this method has not been implemented!!!