Previous implementation did not accept a vector of dynamic size of size 3.
  This commit fixes the issue.

Handle the new convention for quaternion representation with the viewer

Minor fix of bugs with c++11

[Python] Added static method in geometry API to create a capsule object

Correct frameJacobians

Fix bug with SRDF parsers and handle bug in Eigen 3.2.9x pre-release version

Add name to model and set it when loading a urdf file.

Useful when one does not known which robot will be loaded.

Update to last changes in hpp-fcl

Joseph Mirabel authored May 10, 2017 and Joseph Mirabel committed May 10, 2017

* 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)