Cosmetic change

  Fix documentation.
Add a boolean parameter to method Joint::addChildJoint

  - the parameter specifies whether computation of the joint position in
    parent frame is required or not.
Modify operator<< in Device and Joint so that output defines a dot graph

  - copy paster corresponding part from log file to graph.dot file and run
    dot -o graph.pdf -Tpdf graph.dot
Fix some bugs in computation of center of mass and Jacobian

  remove division by zero when mass of a sub-chain is zero,
  set COM Jacobian to zero when resizing.
distance, closestPointInner and closestPointOuter public functions
Moving and installing children-iterator.hh in include/
Remove assert in distance computation

  - objects returned by fcl::DistanceResult are not necessarily objects for
    which distance is computed.
Clear distance result before distance computation.

  - result is not clear in function call.
Fix bug in object iterator

  if first body has no object, iterate on following joints.
Fix bug in Rotation joint interpolation and distances.
change manipulation::gripper to model::gripper
Merge branch 'gripper' into Mathieu
Add gripper.cc and gripper.hh
Rename handlePositionInJoint as objectPositionInJoint.
Cosmetic change (add documentation).
Remove deprecated file.
Use GJKSolver_indep in fcl.

  GJKSolver_libccd fails to correctly compute the closest points.
Add extra configuration space

  Extra configuration space enable users to store extra configuration
  variables in the robot configuration. For instance to plan motions in the
  state space.
Add DisabledCollisions, vector of joints that will be in collision with the object
Cosmetic change, enhance documentation.