KinematicsBase support for multiple tip frames and IK requests with multiple poses
Cleaned up commit
Feedback and cleaned up comment lengths
Fixed missing removeSlash to setValues()
fix for reverting PR #148
Kinematic base minor change
Merge branch 'hydro-devel' into kinematic_base
Merge branch 'hydro-devel' into kinematic_base
Allow joint model group to have use IK solvers with multiple tip frames
changelog for release
0.5.7
Code cleanup
Created supportsGroup() test for IK solvers
computeCartesianPath waypoints double-up fix

computeCartesianPath appends full trajectories between waypoints when given a vector of waypoints. As trajectories include their endpoints, this leads to the combined trajectory being generated with duplicate points at waypoints, which can lead to pauses or stuttering.

This change skips the first point in trajectories generated between waypoints.
Added empty check.
Changed KinematicsBase::supportsGroup() to use a more standard call signature.
Merge branch 'hydro-devel' into kinematic_base
Added support for legacy IK calls without solution_callback
Removed todo
Removed unnecessary error output