stable null space stuff
More stable DLS solving
Added constraints and made DLS more stable
Merge pull request #3 from a-price/master

fixed loadURDFString
Fixed orientation and stabilized things
Making sure file names are valid
Changed some seeding related things
Nothing major
Put in a getJointAxis
Removed definition hack
Added a thing to grab parent joints
Fixed linkage.jointNameToIndex bug
Put in force calculation for prismatic
Updating frames after finished parsing
Major fixes/changes to DLS IK
Updated robot name in unittests, which was causing SEG FAULT
Added respectToWorld function to Robot
Correctly reporting successful parses
report successful parsing correctly
Added verbose flag