Use noalias in StaticEnvCollisionConstr and SelfCollisionConstr.
Use noalias in StaticEnvCollisionConstr and SelfCollisionConstr.

jrl-umi3218/Tasks,jrl-umi3218/Tasks,gergondet/Tasks,gergondet/Tasks,gergondet/Tasks,jrl-umi3218/Tasks,gergondet/Tasks