Add missing forward declaration.

Replace nbody to njoint and activate all collision pairs by default

Make coverage and cppcheck optional and dependant of the current branch

[Python] Add spatial copy constructor

Topic/finite diff

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

This new method give the increment for finite difference applications.

There are still some bugs inside differentiate, interpolate

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.

Minor rework of joint class