Merge pull request #280 from nmansard/topic/collisionpairs

benchmark/timings-geometry.cpp

src/algorithm/geometry.hxx

src/multibody/geometry.hpp

src/multibody/geometry.hxx

src/parsers/srdf.hpp

src/parsers/urdf.hpp

src/parsers/urdf/geometry.cpp

src/parsers/urdf/model.cpp

src/python/geometry-data.hpp

src/python/geometry-model.hpp

src/python/parsers.hpp

unittest/geom.cpp