Merge pull request #714 from jcarpent/devel

bindings/python/algorithm/expose-cholesky.cpp

bindings/python/module.cpp

bindings/python/multibody/geometry-data.hpp

bindings/python/parsers/parsers.hpp

bindings/python/utils/dependencies.cpp

bindings/python/utils/dependencies.hpp

bindings/python/utils/list.hpp

bindings/python/utils/namespace.hpp

cmake

examples/python/README.md

examples/python/collision-detection.py

src/algorithm/geometry.hxx

src/multibody/geometry.hpp

src/multibody/geometry.hxx

src/parsers/srdf.hpp

unittest/geom.cpp