Bug-fix: Beasty reports pose of TCP w.r.t. base back.
Exported symbols related to Cartesian Impedance motions.
Refactored: Changed default value for tcp->ee transform back to identity because we added the beasty-tcp-frame to the urdf. Users can now use tf to make sense out of things.
Refactoring: Added robot-class as member of beasty-class to shrink user interface.
Refactored: Access to state of beasty-controlled robot now possible through getter of beasty-class.
Refactored: Users should now reset beasty safety through dedicated function-call.
Improved some doc-strings.
Refactored: Safety-parameters for beasty are optional with default nil.