git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@197 042f3d55-54a8-47e9-b7fb-15903f145c44

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.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@178 042f3d55-54a8-47e9-b7fb-15903f145c44

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


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@177 042f3d55-54a8-47e9-b7fb-15903f145c44

Adding some convenient helpers to unit class.

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Adding support maxTorque physics tag

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@171 042f3d55-54a8-47e9-b7fb-15903f145c44

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


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Adding joint limit penalization to PoseQuality class.
Adding standalone cmake file for VirtualRobot
Removing Stefan's comments from Robot.cpp



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Changing VirtualRobot cmake config file according to Simox config (Standalone version). Adding some more output in case XML attributes are unkonwn.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@159 042f3d55-54a8-47e9-b7fb-15903f145c44

Fixing some OSG visualization issues, when copying 3d models (wrong global pose of triMeshes)
Improving OSG demo.
Adding OSG visualization support for arrows and coordinate axis

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