Fixes: Manipulability ellipsoid and geometric planning

• make AbstractManipulability::getEllipsoidOrientationAndScale continuous for better visualization
• ArticulatedObject fixes (post transform)

@meixner are you ok with the changes to AbstractManipulability?

requested review from @meixner

assigned to @uuujt_hoefer

@uuujt_hoefer thanks a lot! I will address those comments myself.

added 23 commits

• 78745a51...dc2c0d70 - 22 commits from branch master
• f9b4b21e - Merge remote-tracking branch 'origin/master' into AOGPHelper_fix

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added 2 commits

• a18169f5 - 1 commit from branch master
• 73f5a464 - Merge remote-tracking branch 'origin/master' into AOGPHelper_fix

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added 2 commits

• 77290e06 - const correctness
• 61b09380 - disabled test

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resolved all threads

added 1 commit

• aed234a7 - simplified impl to obtain manipulability ellipsoid orientation and scale

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merged

mentioned in commit f364e32a