First implementation of differential kinematics api
Merge branch 'diff_kinematics' of https://github.com/marioprats/moveit-ros into groovy-devel
Differential IK working version - no sec tasks
Added secondary task to diff IK
Merge branch 'groovy-devel' of https://github.com/ros-planning/moveit_ros into diff_kinematics
Cleaning
Fix secondary task function signature and other minor fixes
rename InterationModeType -> IKInteractionType
use twist instead of pose for velocity version of updateState
ignore continuous joints when computing joint limits avoidance sec task
Fix check for continuous joint
Crtl-R shortcut will reset the interactive markers back to the eef pose
Merge pull request #126 from marioprats/diff_kinematics

Support for differential IK