Use Object oriented Bounding Boxes instead of Rectangle Swept Spheres

  for bounding volume hierarchy.

include/hpp/model/urdf/parser.hh

@@ -59,7 +59,7 @@ namespace hpp
 	typedef DevicePtr_t RobotPtrType;
 	typedef Joint JointType;
 	typedef Body BodyType;
-	typedef fcl::BVHModel< fcl::RSS > PolyhedronType;
+	typedef fcl::BVHModel< fcl::OBB > PolyhedronType;
 	typedef boost::shared_ptr <PolyhedronType> PolyhedronPtrType;
 
 	typedef Transform3f MatrixHomogeneousType;