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.

Add algo to compute [inefficiently] the time variation of the joint jacobian

In exp3, modify assertion

Lie group operation struct are aware of the dimension of the element they manipulate