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Removed some warnings from collada parser

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Unified CoM methods of Robot. Renamed getCoM to getCoMGlobal/getCoMLocal in order to make it consistent with SceneObject's getCoMGlobal method.

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Removed doubled Units::MILLIMETER tags from ArmarIII model, so that VRML export works correctly.

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Added JacobiProvider for Joint Limit Avoidance tasks.
Implemented a generic gaze inverse kinematics solver.

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Improved handling of gaze IK cases, where an translational joint is used to virtually position the robot's gaze.

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changed the folder where cmake config files end up from <install>/lib/CMake/Simox to <install>/share/Simox/cmake


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Changed FindSoQt to also support multiarch triplets (just in case) and raised the minimum required version of cmake to 2.8.3


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Added save button to ColladaViewer.
Added some checks for empty models when saving.

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Fixed "small" defined issue on Windows (bzip2).
Fixed RobotIO::save issue with empty visualization files.
removed some experimental collada files.


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