Added methods in joints and algorithm working on Model to determine if two configurations are equivalent

[C++] The method forwardKinematics now selects by itself the section of the right DoFs over a full vector

[C++][CMake] Merged fake-fcl with fcl.hpp (splitted in .hpp and .hxx file). Propagated flag -DWITH_HPP_FCL to all binaries

[C++][Python] One can contruct a GeometryModel and Data even if hpp-fcl is not found. All stuff related to collisions is not available but geometryPlacements are ( for visualisation in the viewer especially).

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

[C++] Moved collisionPairs from GeomData to GeomModel and add a mask activeCollisionPairs in GeomData. Propagate the changes in the algorithms, parsers and pybindings.

This new method give the increment for finite difference applications.

Most of the joints have bugs inside their methods - integration,
differentiate, interpolate.
A small remind that the joint velocity vector is generally expressed in
the joint frame while the translations are expressed in the joint
parent frame.

It replaces the old shortname  method with is no more static

[C++] The cloud of points in GeometryObject is now a fcl::CollisionGeometry instead of fcl::CollisionObject