This fix a bug in 16.10 and later with compiling issues

This fix a bug related to recent versions of GCC under 16.10 and more

Fix bug in distance computation

Fix bug related to joint Spherical

Fix bug related to HPP-FCL

Add overload of buildModel and buildGeom

Joseph Mirabel authored Sep 28, 2017 and Joseph Mirabel committed Sep 28, 2017

* in order to build model from XML string (standard in ROS)

Add methods "name" and "neutral" in OperationBase and derived classes

Implement time derivative of the centroidal momemtum matrix

Fix bug in parser urdf + add copy constructor in VectorSpaceOperation

  - in function addJointAndBody, when add frame with name joint_name, if the
    joint already exists, method Model::addJointFrame returns -1. This event was
    not detected leading to undefined behavior.
  - this commit detects this error and throws an exception.