Modify test_fcl_capsule_capsule

  - use API distance function instead of selecting gjk solver.
Implement capsule capsule distance function instead of using gjk algorithm.

  - copied code from Wildmagic (http://www.geometrictools.com) nodified
    boost license.
  - collision detection calls distance function.
Remove shapeDistance<Capsule, Capsule> template specialization.
Sample between lower bound and upper bound in SampleSE2::sample.

   This fixes test_fcl_simple.
Add a test for distance computation between boxes.
Do not express closest points in local frame.
Do not express closest points in local frame.
Add a test in test_fcl_box_box_distance.
Remove useless code.
Fix computation of closest points in global frame.
Fix test_fcl_box_box_distance.
Add a test on distance computation between boxes.
Add an accessor to non const collision geometry in CollisionObject class.
Use jrl cmake submodule for configuration.
Comment out tests that fail.