Unify float/double types

[ndehio]

Some of our realtime types use float values/vectors/matrices and some others are based on double. Is there any reason for that? Otherwise we should unify the types...

The following types are based on double:

• dynamics/Torques
• dynamics/Forces
• dynamics/Wrench
• geometry/Rotation
• geometry/Translation

The following types are based on float:

• robot/Weights.hpp
• robot/JointState.hpp
• kinematics/JointAccelerations.hpp
• kinematics/JointVelocities.hpp
• kinematics/JointJerks.hpp
• kinematics/JointAngles.hpp
• dynamics/JointTorques.hpp
• dynamics/JointImpedance.hpp

The KDL-library uses double vectors. At the moment we have to convert our float-based jointangles to double before employing KDL and afterwards we have to convert it back. This wastes lots of time... However, it seems that we can not log double-based types via the OCL::FileReporting component (I am not completely sure about that, but I had an issue with logging the dynamics/Wrench type).

[Pouya-moh]

I have the same issue with casting. From float->double->float seems pointless to me. At least there should be templating option for tst-rt types for those who do not care about OCL::FileReporting (e.g., me!)