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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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 * Simox projects are not longer treated as stand-alone-projects, but as subprojects of simox. This avoids lots of confusions that have been ontroduced due to the VirtualRobot stand-alone project.
 * cmake build-config and install setup has been improved and is consistent through the whole project.
 * switched to version 2.3.0

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Solved some minor issues with differentialIK.

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Added some Jacobian pseudo inverse helper methods.


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