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git-svn-id: https://kforge.ros.org/fcl/fcl_ros@138 253336fb-580f-4252-a368-f3cef5a2a82b

change the interface of collide: the collision settings are now in a CollisionRequest structure, and collision results are now in a CollisionResult structure. Distance has similar extension. This is for the convenience of adding cost and potential future extension.


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add octomap in shape; all collision_managers can handle octomap now, and DynamicAABB manager has special optimization for octomap. Need more test.


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fix bug in sse matrix


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