Testing Collision Checker

1. Testing the influence of the the parameter that defines the minimum size of the spheres in the functioning of the collision checker. Using
   double SphereColModel::_maxCoverSphereRadius=0.0001; made the PC to run out of memory.
   0.001: more than 10 minutes just to create the hierarchies.
   0.01: about 8 seconds in building the hierarchy. The environment used is the one with the fanuc robot with the lathe and the press.
   
2. It is working now. My guess is that given that the environment that I was using had the plate (a very thin one), using big spheres was provoking to detect incorrectly some collisions. The truth is that changing the value of _maxCoverSphereRadius from 1 to 0.01 did result in the planner working now. I am happy and I now deserve a good meal :P
3. I have created a backup of the shrink, shrinkMPK and SphereColChecker under Backs directory. Just in case. The version of today basically consist of the planner working with Quinlan's collision checker instead of PQP.
4. I will spend the rest of the afternoon doing two things:
   a) Checking the ICRA presentation.
   b) Trying to come up with an idea on how to modify the construction and search of the hierarchy in the collision checker.
5. mount -t vfat /dev/sda2 /mnt/ipod
   gtkpod
   --> mpeg4ip, libid3tag, gtk
6. Kernel updated in the laptop. The new one (2.6.11) comes with a new version of the gcc compiler (3.4.2-6)