Initial Fast and Fast-optimal SNS algorithm port

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Closed rethink-forrest closed 8 years ago

rethink-forrest commented 8 years ago

To get FSNS to work, fixed a bug in sns_ik_math_utils which was using abs instead of fabs.
Looks like there may still be a bug in Fast-optimal-SNS, but that will be fixed after Ian merges this into is most recent testing framework.

rethink-imcmahon commented 8 years ago

LGTM. Merging