Merge branch 'master' into feature/torso-joint-four-bar

SimoxUtility/json/eigen_conversion.cpp

SimoxUtility/json/eigen_conversion.h

SimoxUtility/json/json.hpp

VirtualRobot/CMakeLists.txt

VirtualRobot/IK/CompositeDiffIK/CompositeDiffIK.cpp

VirtualRobot/IK/DifferentialIK.cpp

VirtualRobot/Nodes/HemisphereJoint/CachedMaths.cpp

VirtualRobot/Nodes/HemisphereJoint/CachedMaths.h

VirtualRobot/Nodes/HemisphereJoint/Maths.cpp

VirtualRobot/Nodes/HemisphereJoint/Maths.h

VirtualRobot/Nodes/RobotNodeHemisphere.cpp

VirtualRobot/Nodes/RobotNodeHemisphere.h

VirtualRobot/Nodes/RobotNodeHemisphereFactory.cpp

VirtualRobot/XML/RobotIO.cpp

VirtualRobot/examples/HemisphereJoint/main.cpp