collisions utils

[arocchi]

There is still some work to do wrt collisions utils:

• [ ] move loadACMFromSRDF into collision_utils - we could make multiple versions of this function, one accepting an srdf model and an acm, one accepting an srdf filename and an acm
• [ ] add a broad phase on the collision detection (using AABBs)
• [ ] tests for collision_utils:
  • [x] check distance computation with ad-hoc distance computation for capsules
  • [x] verify correctness of minimum distance points by verifying that the distance between them is the correct minimum distance
  • [ ] verify correctness of minimum distance points by verifying they lay on the surface of the capsule they belong to
  • [x] check timings between ad-hoc and FCL distance computation
  • [x] check timings for distance computation with and without closest points query
  • [ ] check timings of AABB vs capsule-capsule distance query (no closest points check)
  • [ ] compatibility with Ubuntu 12.04 and older FCL, or disabling for older FCL versions (conditional compilation), since tests don't pass with FCL version 2.8 (we need at least FCL 3)

[arocchi]

@fcdean what do you think?

[arocchi]

• [ ] generateLinksToUpdate can be tested by checking that it gives the same result of getAllEntryNames in cases where there is no link pairs with CONDITIONAL collision checking