Added Matlab implementation of generic SNS IK solvers for multiple tasks

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Added Matlab implementation of generic SNS IK solvers for multiple tasks #91

Closed robodreamer closed 6 years ago

robodreamer commented 6 years ago

This commit adds the functions that implement SNS vel/acc IK algorithms for multiple prioritized tasks. Testing codes have been updated as well to validate the new functions.

robodreamer commented 6 years ago

I have addressed the comments in the update.