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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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Moved all boost includes to VirtualRobot.h and added workaround to qt/boost bug that results in failures during moc step.
Removed poseVisualization and poseJoint methods since these methods just refer to the global pose 
Added convenient methods to get the pose of a RobotNode to root coordinate system of the robot.

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added possibility to setup DiffIK solver more efficiently

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Fixed model setup when inverting the kinematic structure of a robot.

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Improved performance of DifferentialIK. Added several class members and pre-initialized them to avoid heavy memory allocation/deletion during IK search.

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Switched default to VRML export (instead of not well supported iv format)

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