state has velocity
multiple optimization interations
apply IK after optimization
visualize environment
render start/goal states
collision cost
add timing measurements
add improvement_manager_nlp
Update CMakeLists.txt
Update CMakeLists_use_ext_lib.txt
refactoring nlp
nlp update
Merge branch 'state_with_velocity' of https://github.com/Chpark/itomp.git into state_with_velocity
add missing files
refactoring improvement_manager_nlp
provide derivative func to nlp
efficient derivative computation function
refactoring evaluation_manager
refactoring robot_model
refactoring - multiple trajectories