Primitives are saved in the xml file


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@637 042f3d55-54a8-47e9-b7fb-15903f145c44

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Added optional SimualtionType flag (used by SimDynamics). Extended grid visualization classes, texture files can now be specified. Added several SimDynamics improvements.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@405 042f3d55-54a8-47e9-b7fb-15903f145c44

Added some convenient methods for collision detection, object loading. Improved parameters for physics engine.

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* Bugfix: Using std::vectors with a struct that contains Eigen objects sometimes causes crashes depending on OS and compiler. EndEffector::ContactInfo contains several Eigen::Vector3f variables and hence in some constellations a std::vector of it caused a crash. Now a typedef is used that encapsulates the Eigen::aligned_allocator setup and this issue should be fixed.
* The grasp preshape is now handled by grasps in order to save/load the preshape data.


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git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@236 042f3d55-54a8-47e9-b7fb-15903f145c44

Some sanity checks and helper methods.
Adding approximated force direction to contact information. This allows to retrieve an actor's impacting force vector at a contact for grasp quality measure.
Consider contact force vector for grasp planning.
Add eef configuration to grasp storage.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@235 042f3d55-54a8-47e9-b7fb-15903f145c44

Moving grasp ang graspset to seperated directory.
Fixing ArmarIII definition file.
Adding some objects.
Adding standard object sphere.



git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@225 042f3d55-54a8-47e9-b7fb-15903f145c44

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


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@216 042f3d55-54a8-47e9-b7fb-15903f145c44

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

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