Feature/avoidance handler #10
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…ns (eg collisionpoints) there. Cleaned up some things.
…Now the derivative checker with orientation control on does not fail any more.
…meter server or from the command line without re-compiling. They are also read on the fly.
…s solved with tol equal to 1e-3, which still guarantees sub-mm precision.
…tional error (it was not comparing against the reference but against the original position
…eResize() of eigen VectorXd. Improved tests.
…6), as happens with iKin. Cc @brahmgardner
…he state is internal.
…bably fixed the derivative checker error for good. Cc @brahmgardner
…toEigen which has been renamed to toMatrix4d. Added tests for this method.
…reference), added small tests.
…ector of joint velocities to the state of the chain - after some tests, I decided to not use it for now. Minor fixes here and there.
…ome tests that show that it does not work for 180[deg] rotations
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Merging onto master. Orientation is not fixed yet, but the two branches are diverging too much.