Moved collision pairs from GeomData to GeomModel

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.

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

[C++] Changed the signature of urdf::buildModel, that now takes the model as input. Previous signature is kept as deprecated.

Fix bug in SRDF parser

Topic/urdf refactoring

Minor rework of joint class

It replaces the old shortname  method with is no more static

[C++] The cloud of points in GeometryObject is now a fcl::CollisionGe…

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

[CMake] urdfdom is optional

[Minor] avoid re-placing world geoms.

Topic/radius unittest

se3::computeDistances return the index of the shortest distance.

Conflicts:

	unittest/geom.cpp

Conflicts:

	unittest/geom.cpp

Topic/model refactoring

CollisionPair does not invert indexes. Add CollisionPair::operator==