Forrest Rogers-Marcovitz

- Simplify configuration parameters - Document interface and options for external users - General code clean-up

Efficient nullspace projection for FSNS and FOSNS

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Pull request #30 fixed the nullspace projection, but was not the most efficient method. In the SNSsingle function, instead of taking in the higherPriorityNull and returning the nullSpaceProjector, it looks...

The IK solvers return negative integers when the solver fail. These integers should be based on a defined Enum.

For the SNS velocity solvers, allow for the warm-start option described in the SNS journal paper. This may improve performance for the position solver and for continuous velocity IK.

This is needed before a general code release and for future maintenance.

Before releasing this code to the broader robotics community, we need to include a more complete description of the SNS algorithm and code layout in the README.md and package.xml flies.

When a secondary task is defined directly in the configuration space, such as a nullspace bias or velocity damping, we can optimize performance by searching for the correct scaling factor...

Wrap the SNS position IK solver as a MoveIt compatible IK Kinematics Plugin. The empty sns_ik_kinematics_plugin folder is already setup.

Investigate how having a dynamic step, or using line search, improves the success rate of the SNS position solver starting from random seeds. The dynamic-step branch is one possible solution.

In sns_ik, ns_bias should be the last argument in the CartToJnt function. That way we won't need to re-arrange the arguments with & without using the nullspace. Similar changes may...