Add acceleration-based SNS IK base solver with unit test

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Add acceleration-based SNS IK base solver with unit test #93

Closed robodreamer closed 6 years ago

robodreamer commented 6 years ago

This commit adds acceleration-based sns ik base solver including unit tests. It was written on top of Matt's initial code ported from base velocity sns ik solver.

robodreamer commented 6 years ago

@IanTheEngineer, hey Ian if you are okay, I will go ahead and merge this pull request.