Matthew Kelly

There are a few cases of interest here. In both cases I suggest that we follow the google style guide for C++. 1) Reference arguments: [google style guide: reference arguments](https://google.github.io/styleguide/cppguide.html#Reference_Arguments)...

I believe that the caller is responsible for managing the object lifetime. This method of handling output arguments is also suggested by the [ROS style guide](http://wiki.ros.org/CppStyleGuide#Output_arguments). If the function is...

This gets complicated... About a year ago I did some testing with a new trajectory IK algorithm that used SNS-IK for the core IK solver. I observed that SNS-IK sometimes...

(I don't have write access to the repo, so I think you'll need someone else to rubber stamp the PR).

@Havvy - would you be able to do a quick review for this PR?

It might be possible to replace the current implementation for option parsing with whatever mechanism Matlab uses internally for option parsing. A good implementation will likely involve Matlab classes.

It might be possible to create a Matlab object for the input options - this would likely make robust input validation easier to implement.

Hmmmm... That's interesting. I just ran both scripts on the current master branch, using Matlab version R2017b on linux, and they ran without issue. Do you have a clean working...

This sounds good, although I'm a bit wary of this due to a problem that I ran into a few years ago, converting optimization problems between FMINCON and SNOPT. These...

This would be a great feature - I just never got around to implementing it. It would be great if anyone wanted to submit a pull request with this feature.