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Deriving RobotNodeSet from SceneObjectSet in order to make the class directly usable with the CollisionChecker. Therefore several helper methods are not needed any longer (e.g. createSceneObjectSet). Changing the examples in this manner.


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Improving visualization of GraspRrtdemo.

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Degugging the GraspRrt Demo. Seems to work now.


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Starting with a GraspRrt demo.
Improving RrtVisualization.




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



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Distinguishing methods that assume a Eigen::Matrix4f or a Eigen::Vector3f as a parameter. Some compilers were complaining because of same method names.

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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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