Refactor library translating from KDL::Chain to YAML::Node

SemRoCo / giskard_core

This package provides the core C++ library of giskard, a constraint and optimization-based framework for robot motion control.

GNU General Public License v2.0

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Open airballking opened 8 years ago

airballking commented 8 years ago

there is reusable code hidden inside a class; get it out of there
there are complicated code fragments which make the code less readable; simplify
some methods are very long; try to split up into seperate parts