It also addes a pair of functions that directly create a KDL chain model
for Sawyer, which allows the unit tests to run without depending on external
repositories or URDF files.
This commit includes code for a cleaned-up version of the pseudo-inverse function, along with a unit test for both the full-rank and rank-deficient cases.
sns_ik_data_utilities --> rng_utilities
This commit also turns on compiler warnings and treats them as errors.
This commit addes unit tests for:
It also addes a pair of functions that directly create a KDL chain model for Sawyer, which allows the unit tests to run without depending on external repositories or URDF files.
This commit includes code for a cleaned-up version of the pseudo-inverse function, along with a unit test for both the full-rank and rank-deficient cases.
sns_ik_data_utilities --> rng_utilities
This commit also turns on compiler warnings and treats them as errors.
Issues: #74