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

  - move fcl forward declarations to fcl,
  - create doxygen link to fcl documentation.

  - notify copyright outside doxygen,
  - remove obsolete tags.

  The radius of a body is an upper bound of the maximum distance between the
  points of the body and the origin of the joint.

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

  - make name getter const,
  - define typedef for shared pointer to const device,
  - make operator<< take a const device.

  Do not keep track of outer objects for the robot. Use Problem for that,
  do not keep track of pairs of joints tested for collision and distance.

  Keep track of pairs of joints that are tested for collision and distance.

  - 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.

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