Added Matlab implementation of SNS IK solvers with secondary goal

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Added Matlab implementation of SNS IK solvers with secondary goal #84

Closed robodreamer closed 6 years ago

robodreamer commented 6 years ago

This commit adds the functions that implement SNS vel/acc IK with a secondary configuration space task. Testing codes have been also updated accordingly to validate the new functions.