Update the kinodynamic classes to the changes in hpp-core, fix the remaining issues related to the merge with the newer version of HPP and add some functionnalities for the kinodynamic planner (ie. a better approximation of the contact points during planning.)
This PR also fix the test-reachability.cc and add a new unit-test : test-kinodynamic.cc which cover all the methods related to the kinodynamic planning.
Update the kinodynamic classes to the changes in hpp-core, fix the remaining issues related to the merge with the newer version of HPP and add some functionnalities for the kinodynamic planner (ie. a better approximation of the contact points during planning.)
This PR also fix the test-reachability.cc and add a new unit-test : test-kinodynamic.cc which cover all the methods related to the kinodynamic planning.