updated master branch to reflect latest development
identified issue with the encode torque calculate, was not accounting for the fact that the values were based on the mathematical model and not the motor values
added coordinate transformation angles
added matlab files to help with algorithm development
tested test kinematics, working correctly
in progress of debuging inverse kinematics
completed the inverse kinematics matlab function
updated bug with DCM variables
confirmed successful testing of inverse kinematics
added the inverse kinematics funcitonality, need to test
update the CMake files to allow for easy Qt project creation
fixed issue with mutex unlocking twice
added the inverse kinematics falcon feature with the set desired theta
initial forward kinematics commit
modified forward kinematics algorithm
added kinematic check in main and fixed bug with forward kinematics
Merge branch 'development'