Added manipulability tracking, composite diff ik, soechting nullspace...

See merge request Simox/simox!61

Added manipulability tracking, composite diff ik, soechting nullspace constraints and an example graphical user interface in RobotViewer

Feature/iterators

See merge request Simox/simox!58

adding function to interpolate poses.

See merge request Simox/simox!59

although this functionality is available in some components there in no common place.

Add simox::alg::contains

See merge request Simox/simox!57

Merge branch '56-add-maxcount-to-countingsemaphore-allowing-usage-as-binary-semaphore' into 'master'

Resolve "Add maxCount to CountingSemaphore (allowing usage as binary semaphore)"

Closes #56

See merge request Simox/simox!56