Move operator<< on fcl::transform3f into namespace fcl.
Remove spurious debug output.
Remove management of obstacle from Device

  - collision with external obstacles is now performed in hpp-core by
    CollisionValitation and PathValidation objects.
Fix some bugs in SO3JointConfig.

  - joint number dof is 3, not 6,
  - remove wrong and useless linear interpolation in interpolate method.
Create 3 types of translation joints

  - JointTranslation is now a template class with size_type as a template	    argument. The template argument represent the dimension of the joint
    configuration.
Replace double by value_type.
Add methods in Joint class to get maximal linear and angular velocities.
Cosmetic: move displayTransform3f at end of joint.cc
Add a method in Joint that return the maximal distance of joint to parent.

  - useful for to make continuous collision checking extendable.
Fix another bug in SO3JointConfig

  - size of joint confiuration is 4, not 3.
  - rename JointConfiguration constructor input parameter to avoid confusion.