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remove 'register' keyword
remove /* inside comments
add virtual destructor for abstract class

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this keyword has been deprecated with C++11 and its use throws a lot of warnings

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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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