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?

GeometricPlanning/tests/CMakeLists.txt

+# FIXME the following test must be adapted. It requires a model that is not available in simox
+
+# ADD_GEOMETRIC_PLANNING_TEST(AOGPHelper)