* Switched to version 2.2.0

* Added extendable sensor classes with factories
* Reference implementation with tests of dummy position sensor
* Major change in RobotNode structure: 
** Removed PostJointTransformations since these trafos introduced a lot of inconsistencies, e.g. globalpose deffered from visualization pose
** Removed DH/Transform tags from Joint definition to RobotNode definitions.
** Defining transformations is now much easier: The complex structure with <RobotNode><Joint type=fixed><PreJointTransformation><Transform>... goes to: <RobotNode><Transform>...
** Changed all robot definitions according to this new structure (removed DH/transform tags from joints an dadded them to the corresponding RobotNode)



git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@414 042f3d55-54a8-47e9-b7fb-15903f145c44