Allowed setFromIK to do whole body IK solving with multiple tips
Add check for correct solver type
Split setToIKSolverFrame() into two functions
Added new setToRandomPositions function that allows custom random number generator to be specified
Maintain ordering of poses in order that IK solver expects
Removed debugging code
Reduced unnecessary joint position copying
Addressed consistency_limits issue
Merge branch 'hydro-devel' into set_from_ik_tips
Removed duplicate getSubgroups() function, added prefixes for changed log messages
Bug fix
Removed duplicate functionality poseToMsg function
Merge pull request #180 from davetcoleman/set_from_ik_tips

Allow setFromIK() with multiple poses to single IK solver