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Adding dynamic tree data structure for voxelized workspace representations.



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Fixing PoseQuality measures
Adding some lego duplo bricks

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Fixing bug that skipped start and end point in shortcut path processor.
Adding visualization helper method.

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Adding some helper methods.
Fixing some include paths.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@192 042f3d55-54a8-47e9-b7fb-15903f145c44

Changing collision detection manager in order to allow custom pairs of SceneObjectSets to be checked for collisions (instead of always checking everything against all models)
Adding constraint check to c-space. This allows to implement own constraints, such as forbidding parts of the c-space due to tendon driven actuators.
Minor fixes in RobotNode and RuntimeEnvironment.
Switching to BOOST_ASSERT, temporarily disabling custom messages (newer boost version is needed for this)


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Adding camera nodes to ArmarIII and iCub model.
Adding convenient methods for easy command line parameter processing.
Adding units check to translation xml tags.


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Adding unit support for maxVel, maxAcc, maxTorque tags.

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Fixing cmake module path config, in order not ot overwrite current module path (which may cause problems on projects which use simox)


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Adding some convenient helpers to unit class.

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Adding support maxTorque physics tag

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Adding physics node test
Adding GramSchmidt method to improve ensureOrthonormlaBasis function
Adding some helpers for reachability data


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