Minor changes

[C++][Visual] Save "Material" information in geometry object

[Minor][Spelling] biais in english is bias.

[Minor][C++] Homogenize behaviour of URDF regarding root joint.

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* In both cases, the frame tree starts with frame "root_joint"

Update viewer method according to the new Gepetto-Viewer API

* addMesh returns boolean. Proceed only if addMesh is True

[Minor][C++] URDF parser uses JointModelRevoluteUnbounded for continuous

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* When not set, the limits are set to infinity.

[C++] Move space operation to new class LieGroup and inherited classes.

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* SE(n) -> SpecialEuclideanOperation<N>
* SO(n) -> SpecialOrthogonalOperation<N>

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* The spaces taken into account are SO1, SO3, SE1, SE3, vector spaces
* and Cartesian product of two of them.

Planar joint uses cosine and sine of the angle.