Release Note Ver.3.1.3

Release Note Ver.3.1.3

Basic changes and updates from version 3.1.2 to 3.1.3:

• OpenHRP3 now officially supports Ubuntu 11.10, 12.04.
• The C++ library for matrices, vectors were changed into Eigen from Tvmet.
• ModelLoader supported to the model file of COLLADA form.
• The contact model for sphere-sphere and sphere-mesh pairs was added.
• resolved some miscellaneous problems in OpenHRP.