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

[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.

There are still some bugs inside differentiate, interpolate

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

Conflicts:

	unittest/geom.cpp

Conflicts:

	unittest/geom.cpp

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