Merge pull request #100 from florent-lamiraux/devel

Add missing inline

doc/additionalDoc/loading.hh

@@ -34,8 +34,11 @@ To load an urdf file in C++ code, copy the following lines:
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/parser/urdf.hpp>
 #include <pinocchio/multibody/parser/utils.hpp>
+#include <pinocchio/multibody/joint.hpp>
 bool verbose = false;
-se3::Model model = se3::urdf::buildModel (filename, verbose);
+se3::JointModelFreeflyer rootJoint;
+se3::Model model = se3::urdf::buildModel (filename, rootJoint, verbose);
+se3::Data data (model);
 \endcode
 
 \subsection pinocchio_page_loading_lua Format lua
@@ -45,8 +48,11 @@ To load an lua file in C++ code, copy the following lines:
 #include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/parser/lua.hpp>
 #include <pinocchio/multibody/parser/utils.hpp>
-bool verbose = false;
-se3::Model model = se3::lua::buildModel (filename, false, verbose);
+#include <pinocchio/multibody/joint.hpp>
+
+bool freeflyer = true;
+se3::Model model = se3::lua::buildModel (filename, freeflyer);
+se3::Data data (model);
 \endcode
 
  */

src/spatial/fcl-pinocchio-conversions.hpp

@@ -55,12 +55,12 @@ namespace se3
     return res;
   }
 
-  fcl::Transform3f toFclTransform3f(const se3::SE3 & m)
+  inline fcl::Transform3f toFclTransform3f(const se3::SE3 & m)
   {
     return fcl::Transform3f(toFclMatrix3f(m.rotation()), toFclVec3f(m.translation()));
   }
 
-  se3::SE3 toPinocchioSE3(const fcl::Transform3f & tf)
+  inline se3::SE3 toPinocchioSE3(const fcl::Transform3f & tf)
   {
     return se3::SE3(toMatrix3d(tf.getRotation()), toVector3d(tf.getTranslation()));
   }