Collision detection using hpp-fcl #3336
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Description
This adds a collision detection based on hpp-fcl, a fork of fcl.
I tried following the advice I gave to @vatanaksoytezer and do a copy of fcl first and then adapt to hpp-fcl in subsequent commits to allow seeing the differences to fcl somewhat easily but I'm not 100% convinced I achieved that goal.
I could not yet reproduce the speed improvements claimed by hpp-fcl over fcl but it does provide some other nice features like safety margins (not implemented here yet ...)
relates to moveit/moveit2#1521
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