Update to last changes in hpp-fcl

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* hpp-fcl uses only Eigen types in future version.
* The FCL_HAVE_EIGEN makes it compatible with older version of hpp-fcl.
* See comment in src/spatial/fcl-pinocchio-conversions.hpp
* for more details.

Handle FCL exposition if hpp-fcl is not found

Call simply model.check(data)

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