- when calling addChildJoint, compute maximal distance of the child joint and
    not of the parent.

  - display local position of objects in joint frame.

  - jointRotation::Bounded and UnBounded.

  - useful for to make continuous collision checking extendable.

  - JointTranslation is now a template class with size_type as a template	    argument. The template argument represent the dimension of the joint
    configuration.

  - make internal compuation members mutable.

  Joint::computePosition -> Joint::recursiveComputePosition.

  - notify copyright outside doxygen,
  - remove obsolete tags.

  remove division by zero when mass of a sub-chain is zero,
  set COM Jacobian to zero when resizing.

  - copy paster corresponding part from log file to graph.dot file and run
    dot -o graph.pdf -Tpdf graph.dot

  - the parameter specifies whether computation of the joint position in
    parent frame is required or not.

  - Joint::robot setter now takes a weak pointer as input.
  - robot_ is placed and thus initialized before body_ in Joint class.

  - std::size_t is the type of standard container index,
  - size_type is the vector and matrix index.

  they might differ (int for Eigen, and unsigned int for std).

  - clean up code (remove #if 0 blocks)
  - add documentation.

  - 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.

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.