Primitives are saved in the xml file


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added support for inverting kinematic structures
added saveXML button to RobotViewer

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changed WorkspaceRepresentation to Abstract and moved implementation to WorkspaceRepresentationArray (subclass), important for alternative data structure.

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Motor should now behave a little bit more realistic. We should make the
paramters configurable.

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distanceToLine and nearestPointOnLine work now with every Eigen vector

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Changed min/max functions to pqp_min/pqp_max since these methods could result in errors when min/max macros are defined within other libraries.

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Minor changes: added convenient parameter settings for some methods (collision detection)
Minor Fix: added some explicit casts to avoid double/float warnings

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This migrates some problems when using bullet with double precision.

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