Extensions Taskspace Evaluation

Added various features related to taskspace-evaluation (computing taskspace metrics through brute-force direct kinematics).

New Features

• [analysis]:
  • New module for analysis methods. Contains now a parallelized task-space evaluator.
• [geometry]:
  • DHParameters: a new class to assist in converting DH parameters (according to Craig) to/from homogeneous transforms.
  • CGMeshFactory: a new class providing various helpers to create geometric primitives (boxes, spheres, ...) in the CGMesh format
• [io]:
  • LogFile: now supports to specify data object instances for writing header and footer (through setHeaderData() and setFooterData). This gives more flexibility especially for log data with dynamic-size vectors/matrices (correct column count)
• [memory]:
  • MultiVector: a new class to represent multi-dimensional arrays (3D voxel grids, etc.)
  • MultiLevelGrid: a new class for multi-dimensional grid data structures with automatic data propagation (e.g. dense binary trees/quadtrees/octrees)
• [parallel]:
  • ThreadSafeContainer: a new class for protecting member data with a mutex (internal or external) for thread-safety

Non-Breaking Changes

• [io]:
  • LogFileBase now inherits from ThreadSafeContainer
  • Console now uses base functionality of ThreadSafeContainer
• [parallel]:
  • BackgroundWorker now inherits from ThreadSafeContainer
• [memory]:
  • CircularBuffer now inherits from ThreadSafeContainer