- in function addJointAndBody, when add frame with name joint_name, if the
    joint already exists, method Model::addJointFrame returns -1. This event was
    not detected leading to undefined behavior.
  - this commit detects this error and throws an exception.

  Previous implementation did not accept a vector of dynamic size of size 3.
  This commit fixes the issue.

  - This is necessary to correctly implement random sampling in dynamic-sized
    vector space.

  - VectorSpaceOperation <-1> corresponding to operations on dynamic size
    vectors now handles vectors of given size.

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

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* 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.