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Created with Raphaël 2.2.06Aug48Jul18Jun13May27Mar4Sep330Aug292827252423229875432129Jul2813432130Jun282728Apr27Feb25Nov10931Oct147Sep21Aug654231Jul30292827May19159Apr24Dec1CMake changedlexicographic m…lexicographic masterAdded new tasks for the lmi_lexico_optjoint limit, error bigger than 0ForkedUpdate ReadMe.mdUpdate ReadMe.mdUpdate ReadMe.mdcosmeticsUpdate FindKDL.cmakeUpdate ReadMe.mdUpdate ReadMe.mdUpdate ReadMe.mdUpdate ReadMe.mdadded basepos taskcorrected jl jacobian and sigmaadded files from previous commitadded heading function to test yaw alignmentminor changesdevdevmerged with master. CalcPinv back to normalback to FindKDL without PkgConfigtesttestremoved cout and added new CalcPinv cleanedmodification to FindPkgConfig.cmaketrying new findKDL stuffafter mergetesting old calcpinvdebugging sgfaultremoved eigen/SVD and eigen/EigenValues from includesmodified JEEPOS to have different RRb_in_w diagonal blocks. A TODO comment was addedCorrected matrix JACEEPOS, from robot arm to translationCalcPinv again with transpose to avoid RR laptop errorminor changeInitialized link1_in_armbase transform. minor changemerged dev branch and changed again to CalcPinv for mastermerged with mastersolved HT problems. Added transform from arm_base to link 1Changes to Skew in CoG Functionmerged with mastercleaning function