[C++][unittest] Fix computations in jointcomposite::calc() + reworked unittest (comparison of R3xSO3 (either two joints with no inertia between them or Jointcomposite))

[C++] Make JointComposite part of the JointVariant. Reoganized some include to avoid circular dependencies

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

[C++] Geom: remove stupid comparisons of unsigned int with -1, and consequently modified the signature of GeomModel::addGeometryObject with an optional argument.

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

Issue 281.12.

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

[c++] Geom: modified multibody/geometry.hpp so that _ are removed from var names + unified the way geometry model and data are named (resp geomModel and geomData) through all the code.
Issue 281.5.

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

Issue 281.7.

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

[C++] Geom: major change in the API. Moved compute collision|distance from methods of GeomData to algorithms in geometry.hpp.
Issue 281.9.

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

Issue 281.2.

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