added compute volume function draft
error message correction
error message correction
computeVolume: return two points for each capsule attached to the robot: (1) the
center of the top disk of the cylinder enclosed by the capsule, and (2) the
center of the bottom disk. Additionally, for each point we return the radius of
the hemisphere attached to the cylinder, and the length of the cylinder.
insertion method createPositionConstraints equals to applyConstraints
added createPositionConstraints in problem.idl file
computation of the projection jacobian from the convex hull capsules
Merge branch 'irreducible-volume-project'
Merge branch 'master' of github.com:orthez/hpp-corbaserver
Merge branch 'master' of github.com:humanoid-path-planner/hpp-corbaserver

Conflicts:
	src/problem.impl.cc