Add name to model and set it when loading a urdf file.

Useful when one does not known which robot will be loaded.

Update to last changes in hpp-fcl

Joseph Mirabel authored May 10, 2017 and Joseph Mirabel committed May 10, 2017

* hpp-fcl uses only Eigen types in future version.
* The FCL_HAVE_EIGEN makes it compatible with older version of hpp-fcl.
* See comment in src/spatial/fcl-pinocchio-conversions.hpp
* for more details.

Handle FCL exposition if hpp-fcl is not found

Call simply model.check(data)