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Fixed sensor visualization.

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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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