Suggested changes to the invkin package

[lpell...@gmail.com]

Hi,
We (Jimmy and I) have discussed some changes to the rw::invkin package. The following is proposed:

1) Create an InverseKinematics interface from which ClosedFormIK and IterativeIK inherits. This means we will have to change it solve method of the ClosedFormIK to include a state as well. This is not needed in the current PieperSolver but it is likely to be useful in the future.

2) We will provide an option to test for joint limits on the InverseKinematics interface. All inverse kinematics methods should support this optional feature.

3) We will provide an AmbiguityResolver (which inherits from InverseKinematics) which expands a set of solutions to also include solutions generated by 2pi ambiguities for revolute joints.


Any comments and suggestions to these modifications?

Best regards
Lars-Peter