Updated docu according to changes in Joint/RobotNode transformations (no pre/postJoint Transformations, uniform transformation in RobotNode).

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Fixes for XML save methods.
Added generic methods for model saving.
Added method to explicitly load Coin SoFile nodes.

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toXML related fixes

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minor update in coin visualization methods

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bugfix: MathTools's method for determining on which side a point lies w.r.t. a plane was not working correctly for planes with p!=(0,0,0)

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* Added extendable sensor classes with factories
* Reference implementation with tests of dummy position sensor
* Major change in RobotNode structure: 
** Removed PostJointTransformations since these trafos introduced a lot of inconsistencies, e.g. globalpose deffered from visualization pose
** Removed DH/Transform tags from Joint definition to RobotNode definitions.
** Defining transformations is now much easier: The complex structure with <RobotNode><Joint type=fixed><PreJointTransformation><Transform>... goes to: <RobotNode><Transform>...
** Changed all robot definitions according to this new structure (removed DH/transform tags from joints an dadded them to the corresponding RobotNode)



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Removed filename of ManipulationObject, already defined in parent class. Some minor fixes. Changed makeRelativePath method.

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Reorganized Jacobi Classes. Now a JacobiProvider allows to specify a generic interface which is needed for hierarchical IK methods.

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

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

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Improved stability of bullet related dynamics simulation.
Added some extended functionality to bounding box class.
Added getBoundingBox method to robot.




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Fixed SimDynamics robot representation in order to support robots in a body-joint-body notation. In this case the joint RobotNode does not have a model which is now supported.
Some changes in the BoundingBox class.
SceneViewer improved: Grasps can be visualized.

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