Added sensors to objects;
Added grasp to robot nodes;
Extended RobotIO::RobotDescription;
Allow reloading of the robot visualization if RobotDescription::KinematicStructure is chosen

* unity build decreases build time from 11 to 5.5 minutes (i7-7700HQ)

Added step params.
Fixed distrubition range and use ClampedNormalDistribution

* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle

    modernize-avoid-bind
    modernize-deprecated-headers
    modernize-redundant-void-arg
    modernize-replace-auto-ptr

reduced the number of warnings with -Wall -Wextra -Wpedantic (now < 250 (mostly qhull), before > 10000

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@731 042f3d55-54a8-47e9-b7fb-15903f145c44

* Moved hierarchical functionality from RobotNodes to parent class SceneObject. This allows to add children to sceneobejcts and unifies the parent/child structure over all objects.
* Changed initialization of RobotNodes. Names of children are not longer passed to constructor. The standard addChild method is used instead.
* Removed RobotNode's applyJointValue methods. Now the standard updatePose methods are used.
* Fixed ref bug in createArrow function. Now memory is released when detaching arrow visualizations.



git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@334 042f3d55-54a8-47e9-b7fb-15903f145c44

* 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.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@238 042f3d55-54a8-47e9-b7fb-15903f145c44

Add some models.
Generic ColorMap.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@237 042f3d55-54a8-47e9-b7fb-15903f145c44

Additional methods for FrictionCone processing.
New methods for quality measure interface.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@234 042f3d55-54a8-47e9-b7fb-15903f145c44

Starting with a GraspRrt demo.
Improving RrtVisualization.




git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@226 042f3d55-54a8-47e9-b7fb-15903f145c44