[C++][eigen] Remove call to eigen method hasNaN to ensure compatibility with eigen 3.0.5. Provide our own implementation

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

[C++][CMake] Merged fake-fcl with fcl.hpp (splitted in .hpp and .hxx file). Propagated flag -DWITH_HPP_FCL to all binaries

[C++][Python] One can contruct a GeometryModel and Data even if hpp-fcl is not found. All stuff related to collisions is not available but geometryPlacements are ( for visualisation in the viewer especially).

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

[CMake] Solved bug #236. Marginally changed the source/header listing policy to avoid similar bugs in the future.

Conflicts:

	CMakeLists.txt

Renamed JointXXAccessor to JointXX + renamed traits<D>::JointData to traits<D>::JointDataDerived, same for Model.

Conflicts:

	CMakeLists.txt
	src/algorithm/center-of-mass.hxx
	src/multibody/model.hpp
	unittest/CMakeLists.txt

Conflicts:

	CMakeLists.txt

As it is done in src/multibody/parser/python.cpp, one can create a shared_ptr to a new Model in c++,
send this into a python namespace, update it in python, and continue to work on the Model in c++.

An example to use this as a simple parser is given in unittest/python.cpp and models/simple_model.py

(squashed version)

Eigen::ProcuctReturnType becomes Eigen::Product in Eigen version >=
3.3.0.

[Python] Rename file into joint-derived.hpp to correspond to the type it exposes. i.e it does the exposition for each derived joint model ( that are in the joint model variant