* Added extended manipulability measure that is useful when joint limits should be considered.

* Moved hierarchical functionality from RobotNodes to parent class SceneObject. This allows to add children to sceneobejcts and unifies the parent/child structure over all objects.
* Changed initialization of RobotNodes. Names of children are not longer passed to constructor. The standard addChild method is used instead.
* Removed RobotNode's applyJointValue methods. Now the standard updatePose methods are used.
* Fixed ref bug in createArrow function. Now memory is released when detaching arrow visualizations.



git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@334 042f3d55-54a8-47e9-b7fb-15903f145c44