Removed commited QTCreator files.
Removed mainpage-file.
Some slight code-reordering plus outline of vel-ik code.
Added IK-solver, renamed class, and switched to reading Chain from URDF.
Finished implementation and made it a lib.
Bug-fix: Previously committed the wrong files. Ups.
Added unit-tests for position-FK and velocity-IK.
Corrected an include.