Added new IKController (inverse kinematics) as copy of IDController for now.
Added IKController to cmakelists for package
Controller fixes; compiles into LCSR_CONTROLLERS library now.
Carried over IKController code from "CartesianPose.cpp".
Changed from KDL to eigen for compatibility with new ROS/OROCOS code
controller edits to fix error with kdl tree
Merge branch 'master' into ikwork
Merge branch 'ikwork'
fixing ik / rml controller behavior for streaming traj messages