Forrest Rogers-Marcovitz comments

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                                            Forrest Rogers-Marcovitz

Clean-up old branches in repo

I was actually in the middle of deleting some old branch from past pull request. After that, there are 4 branches other than master left: dynamic-step Branch was created by...

Add technical reference for the position IK solver

Two quick notes: 1) The code pull-request for this is #33 2) It seems like I based the decaying logarithmic barrier function partial from these notes: http://s-mat-pcs.oulu.fi/~keba/Optimointi/OP_penalty_engl.pdf

Remove sns_ik_lib dependency on std_msgs

Once we remove ROS logging, we can probably also remove roscpp as a dependency.

Remove sns_ik_lib dependency on std_msgs

Ah, we do use NodeHandle in sns_ik.cpp to parse the urdf.

Document and enforce public vs private API

Step 4. Profit!