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Fixing error that was caused by a rounding issue resulting in a doubled end point when creating a cspace path.
Fixing several typos.


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Adding documentation.
Fixing xchanged left and right eye on ARMAR-III.
Changing orientation of offscreen renderings (move the origin of rendered images to bottom-left instead of top-right)
Changing from deprecated boost::filesystem::complete to boost::filesystem::system_complete.



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Fixing memory leak that was caused by a cyclic shared_ptr reference between Robot an RobotConfig. Now RobotConfig uses a weak pointer to a Robot instance.

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Adding trajectory support to Scene.
Adding trajectory IO and visualization methods.


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Adding support for sceneIO. Therefore several classes are now able to generate XML definition strings.

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Adding class for representing trajectories in joint space. Now deriving CSpacePath from this Trajectory class.
Adding helper methods to MathTools




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Switching from Reachability to base class WorkspaceRepresentation.

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Removing dependencies to SimoxPorject config file in order to make this project compile for VR standalone setups.

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Adding dynamic tree data structure for voxelized workspace representations.



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Fixing PoseQuality measures
Adding some lego duplo bricks

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Fixing bug that skipped start and end point in shortcut path processor.
Adding visualization helper method.

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Adding some helper methods.
Fixing some include paths.

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Changing collision detection manager in order to allow custom pairs of SceneObjectSets to be checked for collisions (instead of always checking everything against all models)
Adding constraint check to c-space. This allows to implement own constraints, such as forbidding parts of the c-space due to tendon driven actuators.
Minor fixes in RobotNode and RuntimeEnvironment.
Switching to BOOST_ASSERT, temporarily disabling custom messages (newer boost version is needed for this)


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