Refactoring base vel/acc IK codes with a base class

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Closed robodreamer closed 6 years ago

robodreamer commented 6 years ago

all the common functions are moved to base class now
updated velocity and acceleration IK codes so that they use the functions in the base class

This update was written based on Matt's initial attempt. I fixed a bug in his version and made acceleration IK use base class functions as well.

robodreamer commented 6 years ago

I have updated the code based on Matt's comments.