To clean the code, I added a dedicated namespace for quaternion.
I have made deprecated previous functions related to quaternions and they now refer to their implementation inside the quaternion namespace.

It was then required to include in the main stream additionnal include that have  been put in the fwd.hpp file

Justin Carpentier authored Aug 25, 2018 and Justin Carpentier committed Oct 29, 2018

This splitting is mandatory with CPPAD support.

Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018

This initial commit allows to support of CPPAD in order to implement automatic differentiation inside Pinocchio

[cmake][C++][bug fix] Moved initialization of static const variable gravity 981 from model.hpp to model.cpp. libpinocchio.so is no more empty. Caution : Pinocchio is more a header-only library. One should alwais link against shared library