Topic/joint models more unittests

Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

Conflicts:
	src/multibody/geometry.hpp
	src/multibody/geometry.hxx
	src/parsers/srdf.hpp

Refactoring of the urdf parsing. Thx for the contributions. I merge.

Renamed convertUrdfPathToAbosulutePath to retrieveResourcePath as it is not only specific to meshes files. Fixed the way package:// and file:// paths are handled

[C++][Python] Removed references to kinematic model/data in geometry model/data. + fixed unallocated memory map ( due to using reserve keyword instead of resize)

[C++][Python] Remove dependency on SRDF parser in Geometry Model and Data. Updated Python interface accordingly

[C++] Removed type from GeometryObject. Still using the enum GeometryType to specify if visuals or collisions must be parsed from urdf file

Fix CMake when compiling with hpp-fcl without Python.

[CMake] Compilation without python

Moved assimp module in hpp-fcl

Conflicts:

	CMakeLists.txt

Topic/neutral config

[C++] Rename spatial scalar type to follow Eigen convention.

* Rename Scalar_t to Scalar.
* This allows applying Eigen-compatible template operations to
  se3::spatial objects.

[C++][unittest] Added neutralConfiguration vector in Model, and fill it when adding joints + test on neutralConfiguration

Expose the Joint (Model,Data)  Variant methods via the generic Joint(Model,Data).

Renamed JointXXAccessor to JointXX + renamed traits<D>::JointData to traits<D>::JointDataDerived, same for Model.

Conflicts:

	CMakeLists.txt
	src/algorithm/center-of-mass.hxx
	src/multibody/model.hpp
	unittest/CMakeLists.txt

Conflicts:

	CMakeLists.txt

[C++] The stack of joints model & data is now of type joint accessor ( i.e the derived types are encapsulated in a generic joint accessor

Conflicts:

	src/multibody/model.hpp