Added reachability and custom node sets to RobotIK (including tests)

data/RobotAPI/tests/robotmodel/ArmarIII-Head.xml

data/RobotAPI/tests/robotmodel/ArmarIII-LeftArm.xml

data/RobotAPI/tests/robotmodel/ArmarIII-LeftHand.xml

data/RobotAPI/tests/robotmodel/ArmarIII-RightArm.xml

data/RobotAPI/tests/robotmodel/ArmarIII-RightHand.xml

data/RobotAPI/tests/robotmodel/ArmarIII.xml

source/RobotAPI/components/RobotIK/RobotIK.cpp

source/RobotAPI/components/RobotIK/RobotIK.h

source/RobotAPI/components/RobotIK/test/CMakeLists.txt

source/RobotAPI/components/RobotIK/test/RobotIKTest.cpp

...RobotAPI/components/RobotIK/test/RobotIKTestEnvironment.h

.../RobotAPI/components/RobotIK/test/RobotStateComponent.cfg

source/RobotAPI/interface/core/RobotIK.ice