* Standard clone methods now cause an exception in RobotNodes in order to prevent user from doing nasty/errornous things.
 * Set global pose of cloned objects.
 * Implement _clone method in objects that derive from SceneObject in order to return correct instances when cloning.
Convenient helpers:
 * Methods for easily setup a united set of objects. (This can drastically improve collision detection in case static obstacles are present)
Improvements
 * Improving datapath search in order to cover most likely path setups.
 * Switching to asserts in core collision detection routines in order to avoid lots of checks in release builds.
 * Add manipulability measure for directed movements.
 * Billboard support for Coin3D visualizations.

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New MultiThreading example. 

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minor build update. Switching from find_file to find_path in order to server a consistent variable use.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@249 042f3d55-54a8-47e9-b7fb-15903f145c44

Now the file is located at the build/install main directory in order to make it visible for FIND_PACKAGE scripts.


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VirtualRobot standalone build fixes.

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Consider install targets.
Setup for in-build and install configurations.
Consistent VirtualRobot standalone and Simox complete setup.
Easy setup for external projects that rely on Simox.
Fix wrong boost test method in CSpace test.
Consistent cmake output.
Consitent data path. Remove in-source dependencies to source path. 

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New models.
Some convenient access methods. Some docs.
Improved version of SceneViewer. EEFs can be closed and opened.

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* 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

Add some models.
Generic ColorMap.

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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

Additional methods for FrictionCone processing.
New methods for quality measure interface.


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Deriving RobotNodeSet from SceneObjectSet in order to make the class directly usable with the CollisionChecker. Therefore several helper methods are not needed any longer (e.g. createSceneObjectSet). Changing the examples in this manner.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@230 042f3d55-54a8-47e9-b7fb-15903f145c44

Improving visualization of GraspRrtdemo.

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Degugging the GraspRrt Demo. Seems to work now.


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Starting with a GraspRrt demo.
Improving RrtVisualization.




git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@226 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

Distinguishing methods that assume a Eigen::Matrix4f or a Eigen::Vector3f as a parameter. Some compilers were complaining because of same method names.

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Fixing error that was caused by a rounding issue resulting in a doubled end point when creating a cspace path.
Fixing several typos.


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Adding documentation.
Fixing xchanged left and right eye on ARMAR-III.
Changing orientation of offscreen renderings (move the origin of rendered images to bottom-left instead of top-right)
Changing from deprecated boost::filesystem::complete to boost::filesystem::system_complete.



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