Avoid conflict between fcl official version as installed by ROS and hpp
  modified version.

  - jointRotation::Bounded and UnBounded.

  Extra configuration space enable users to store extra configuration
  variables in the robot configuration. For instance to plan motions in the
  state space.

  - remove dependency to
     - Kitelab and
     - jrl-dynamics
  - add dependency to fcl,
  - implement class Body as fcl::CollisionObject container,
  - implement forward kinematics.

  * Body and CapsuleBody classes are renamed to BodyDistance and
    CapsuleBodyDistance respectively.
  * BodyDistance no longer inherits from CkwsKCDBody. BodyDistance now
    holds a CkwsKCDBodyAdvanced shared pointer as private attribute.
  * BodyDistance constructor now takes a body shared pointer and a
    string as arguments
  * CapsuleBodyDistance is still a daughter class of BodyDistance.
  * Body factory classes are no longer necessary.
  * The Device class now holds all BodyDistance objects associated with
    bodies in a vector private attribute. The vector can be accessed
    with a public getter.

  * Header is now included where needed.

associated factory.

  * Add dependency to hpp-geometry
  * Define new CapsuleBody class that derives from Body.
  * We assume that the body has only one inner object of type
    hpp::geometry::collision::Segment that represents a capsule.
  * Beside a CkcdAnalysis vector attribute, class has a segment pair
    attribute to store self-collision pairs.
  * When adding inner and outer segments, self-collision pairs are
    added.
  * When computing distance for a distance pair, kcd is used for
    segment-polyhedron analyses, and a fast distance computation
    is used for segment-segment pairs.
  * Define method to compute minimum distance for all pairs of a body.

  * The Kite API forbids the user to create himself bodies. They can
    only be created by a body factory.
  * The body factory is passed as an argument during initialization of
    a joint component.
  * Before a solid component reference is added to the joint
    component, the body factory creates a new body if there is no
    attached body yet to the joint.

    * CMakeLists.txt
    * tests/CMakeLists.txt

    Use hpp-util for debug purposes.

    Use cmake,
    Make joint classes derive from Kineo and jrl-dynamics corresponding joint
    classes.