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Joseph Mirabel authored Feb 04, 2015 and Joseph Mirabel committed Feb 20, 2015

modified.

In CollisionObject, store and return joint as non const.

  Manipulating const Joint is not realistic.

Corrected error message

  - display local position of objects in joint frame.

  - this does not make any sense.

Move operator<< for Joint and Device into namespace hpp::model

  Cut long lines.

  for a mysterious reason, the doxygen refuses to generate the documentation
  of those inline functions.

  Avoid conflict between fcl official version as installed by ROS and hpp
  modified version.

Fix bug in Joint copy constructor

  - jointRotation::Bounded and UnBounded.

  - size of joint confiuration is 4, not 3.
  - rename JointConfiguration constructor input parameter to avoid confusion.

  - useful for to make continuous collision checking extendable.

  - JointTranslation is now a template class with size_type as a template	    argument. The template argument represent the dimension of the joint
    configuration.

  - joint number dof is 3, not 6,
  - remove wrong and useless linear interpolation in interpolate method.