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Adjusting some set and get globalPose methods accordingly.
Also some implicit checks for RootNodes are handled in a better way.

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Added extended functionality to BulletEngine/CoinQtBulletViewer. Mutex protections and start/stop/step engine functionality.
Fixed missing const definition in SimoxCollisionDispatcher: now the correct methods are called by the bullet framework.
Improved SimDynamiosViewer: Start/Stop/Step engine, CoM visualizations



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* Moved hierarchical functionality from RobotNodes to parent class SceneObject. This allows to add children to sceneobejcts and unifies the parent/child structure over all objects.
* Changed initialization of RobotNodes. Names of children are not longer passed to constructor. The standard addChild method is used instead.
* Removed RobotNode's applyJointValue methods. Now the standard updatePose methods are used.
* Fixed ref bug in createArrow function. Now memory is released when detaching arrow visualizations.



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Update to current bullet version (2.81)

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Fixed Coin3D units hanling. Removed implicit assumption that all models are given in millimeters. Now all Coin3D related models may have a units tag or if not, the units are assumed as meters (standard in Coin). This change does only affect the model import/export, since all Simox internal computations are still performed in millimeters.
Added unit tags to 3d model files and fixed all demos and examples.

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Changing representation of orientations from RPY to EulerXYZ (fixed frame). This allows to represent neighborhoods of voxels in a better way since static frames are used.
Some minor improvements and tests.

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Improved visualization options.
Some minor bugfixes.
Improved memory management for reachability data.


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Reachability: Adding some convenient methods.

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Fix boost 1.50: filesystem path conversion to string

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Bugfix in GenericIK / DiffIK: When joint space improvement is low, the iterative search was stopped even when goal was reachable. Now the Cartesian error is considered as stopping condition.

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* Check for nan.
* Minor fix in SVD computation.


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