Create a common parent class NonlinearProgramWKinsol class for InverseKin and InverseKinTraj. Should be easier to write code for dynamic planning
change the test criteria in testIK. Now I only check if the constraints are satisfied, but do not require that the solution from inverseKin MATLAB/C++ and InverseKin to be the same.
1.fix a bug in InverseKinTraj when adding the QuasiStaticConstraint
2.change the test file for inverseKinTraj. Now it checks if each constraint is satisfied.
remove the most of the test on additional time samples for inverseKinTraj. That part of the code should be reformulated, to take Russ's suggestion on parameterizing qdot as decision variables so as to make the gradient sparse
remove the randomness in testIKtraj to assure the test should aways succeed without worring about poor initial seed.
Merge pull request #99 from hongkai-dai/fixIKtest

Fix IK test