Merge branch 'master' into floorfriction

...pPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp

MotionPlanning/Planner/BiRrt.cpp

MotionPlanning/Planner/BiRrt.h

MotionPlanning/Planner/Rrt.cpp

MotionPlanning/Planner/Rrt.h

VirtualRobot/CMakeLists.txt

VirtualRobot/CollisionDetection/CDManager.h

VirtualRobot/IK/ConstrainedOptimizationIK.cpp

VirtualRobot/IK/Constraint.cpp

VirtualRobot/IK/Constraint.h

VirtualRobot/IK/JacobiProvider.cpp

VirtualRobot/IK/JacobiProvider.h

VirtualRobot/IK/constraints/CollisionCheckConstraint.cpp

VirtualRobot/IK/constraints/CollisionCheckConstraint.h

VirtualRobot/IK/constraints/TSRConstraint.cpp

VirtualRobot/Import/URDF/SimoxURDFFactory.cpp

VirtualRobot/Nodes/RobotNode.cpp

VirtualRobot/Robot.cpp

VirtualRobot/Robot.h

VirtualRobot/RobotNodeSet.cpp