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  - Expose IK parameters through Constraint and ConstrainedIK constructors
  - Use VR_INFO and VR_WARNING when necessary



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fixed assert bug

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removed timer.hpp from generic boost include section due to bug with new/old timer version and boost test cases 
(see https://svn.boost.org/trac/boost/ticket/7397)

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Moved all boost includes to VirtualRobot.h and added workaround to qt/boost bug that results in failures during moc step.
Removed poseVisualization and poseJoint methods since these methods just refer to the global pose 
Added convenient methods to get the pose of a RobotNode to root coordinate system of the robot.

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added possibility to setup DiffIK solver more efficiently

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