Update API to support fcl 0.5 and tinyxml2 4.0

[jslee02]

FCL switched to use the smart pointers of the C++11 standard library since 0.5.0, and removed XML_NO_ERROR since 4.0.0.

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This change is

[mxgrey]

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Reviewed 5 of 5 files at r1.
Review status: all files reviewed at latest revision, all discussions resolved.

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Comments from Reviewable

[mkoval]

You can eliminate a lot of duplicate #if checks by defining using alias:

#if FCL_VERSION_AT_LEAST(0,5,0)
template <class T> using fcl_pointer = std::shared_ptr<T>;
#else
template <class T> using fcl_pointer = boost::shared_ptr<T>;
#endif

I prefer this to the current implementation because it doesn't clutter up the implementation with a bunch of #if/#else/#endif checks.

[jslee02]

You can eliminate a lot of duplicate #if checks by defining using alias:

👍 As there are uses of weak_ptr as well, I would prefer fcl_shared_ptr and fcl_weak_ptr (or fcl::shared_ptr and fcl::weak_ptr) though.

[jslee02]

Also, it seems there are API changes in tinyxml2 as well according to the travis build log. Will create an PR for it.

[mkoval]

That sounds good to me. I am concerned about the code duplication, not the name of the alias. :)

[jslee02]

It seems tinyxml2 removed XML_NO_ERROR in version 4.0. In the last commit, I switched to use XML_SUCCESS rather than XML_NO_ERROR since they were interchangeable (they were assigned with the same value 0).