Added sphere geometry type in Parser::addSolidComponentToJoint

  - split JointRotation into 2 classes.

  Distances seem to be computed for this type of bounding volume.

  for bounding volume hierarchy.

  - urdf does not specify root joint. Stop assuming that root joint is always
    named base_joint.

  - Empty robot is passed to the function that parses the files. This enables
    users to create intances of derived classes and to pass them to the
    function.

  - split loadRobotModel into loadRobotModel and loadHumanoidModel,
  - above methods return a pointer to the new object.

  - do not assume that base link is called "base_link".

  This way, the collision pairs are stored in the device.

  urdf file does not specify the type of root joint. Parameter rootJointType
  specifies the type of the root joint of the robot. Possible values are
    - "freeflyer",
    - "planar",
    - "anchor".

  Contact point information is not used and does not seem to be general enough
  to be useful.

Remove obsolete header inclusion

  cut dependency to Kitelab and to jrl-dynamics.

  This reverts commit bb08bf63.

  These computations are very time consuming, but they are useful to debug
  direct path validation.