* simplify multitude of IK API functions * random config sampling either in IK or RobotState, not both * allow for axis-specific tolerances (to support underactuated robots) * allow task-space and joint-space weighting * support redundancy resolution * support arbitrary constraints? * support kinematic trees * new reference implementation replacing KDL * compute FK + Jacobian ourselves * solvers: svd (with various singularity resolving options), transpose CartesianPath * compute path w.r.t. arbitrary reference frame * support motions of eef1 relative to eef2
CartesianPath