* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle

reduced the number of warnings with -Wall -Wextra -Wpedantic (now < 250 (mostly qhull), before > 10000

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.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@775 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@771 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@731 042f3d55-54a8-47e9-b7fb-15903f145c44

Primitives are saved in the xml file


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@637 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@623 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@425 042f3d55-54a8-47e9-b7fb-15903f145c44

Added optional SimualtionType flag (used by SimDynamics). Extended grid visualization classes, texture files can now be specified. Added several SimDynamics improvements.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@405 042f3d55-54a8-47e9-b7fb-15903f145c44

Added some convenient methods for collision detection, object loading. Improved parameters for physics engine.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@404 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@327 042f3d55-54a8-47e9-b7fb-15903f145c44

* Bugfix: Using std::vectors with a struct that contains Eigen objects sometimes causes crashes depending on OS and compiler. EndEffector::ContactInfo contains several Eigen::Vector3f variables and hence in some constellations a std::vector of it caused a crash. Now a typedef is used that encapsulates the Eigen::aligned_allocator setup and this issue should be fixed.
* The grasp preshape is now handled by grasps in order to save/load the preshape data.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@238 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@236 042f3d55-54a8-47e9-b7fb-15903f145c44

Some sanity checks and helper methods.
Adding approximated force direction to contact information. This allows to retrieve an actor's impacting force vector at a contact for grasp quality measure.
Consider contact force vector for grasp planning.
Add eef configuration to grasp storage.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@235 042f3d55-54a8-47e9-b7fb-15903f145c44

Moving grasp ang graspset to seperated directory.
Fixing ArmarIII definition file.
Adding some objects.
Adding standard object sphere.



git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@225 042f3d55-54a8-47e9-b7fb-15903f145c44

Adding trajectory support to Scene.
Adding trajectory IO and visualization methods.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@216 042f3d55-54a8-47e9-b7fb-15903f145c44

Adding support for sceneIO. Therefore several classes are now able to generate XML definition strings.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@215 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@146 042f3d55-54a8-47e9-b7fb-15903f145c44