laas/metapod — pull request #4 by sbarthelemy (2012-08-03 11:48:27+00:00)
Title: fix bcalc recursion

bcalc is currently not used in the project, but is useful when one needs
to get the position of the body frames in the world frame.

However, the implementation was flawed: all bodies were treated like the
root of the tree. This patch fixes that problem.

An automated test should follow