added sns acceleration ik class and SNS_Base_Acc type
added Jacobian dot computation
created unit test with sawyer model
fixed some bugs in sns_ik_acc_base and sns_ik_vel_base codes
NOTE: Acc IK solver was created as another type of Vel IK solver,
I am trying to figure out a better way to do this, so any suggestions
are more than welcome! But this code works and it passes unit test.
NOTE: Acc IK solver was created as another type of Vel IK solver, I am trying to figure out a better way to do this, so any suggestions are more than welcome! But this code works and it passes unit test.