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Added missing eigen defines to header (Primitives).

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minor fixes

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changed name of qhull project to simox-qhull to avoid issues when installing simox together with a different qhull verson

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Primitives are saved in the xml file


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added support for inverting kinematic structures
added saveXML button to RobotViewer

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changed WorkspaceRepresentation to Abstract and moved implementation to WorkspaceRepresentationArray (subclass), important for alternative data structure.

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