Allowed setFromIK to do whole body IK solving with multiple tips
Add check for correct solver type
Split setToIKSolverFrame() into two functions
Added new setToRandomPositions function that allows custom random number generator to be specified
Added new setToRandomPositions function that allows custom random number generator to be specified
Maintain ordering of poses in order that IK solver expects
Removed debugging code
Reduced unnecessary joint position copying
Addressed consistency_limits issue
Merge branch 'hydro-devel' into set_from_ik_tips
Removed duplicate getSubgroups() function, added prefixes for changed log messages
Merge branch 'hydro-devel' into set_random_positions
Bug fix
Line too long formatting
Added default values for iostream in print statements
New robot state to (file) stream conversion functions, documentation improvements
Getter for all tips (links) of every end effector in a joint model group
Moved find_package angles to within CATKIN_ENABLE_TESTING
Merge pull request #186 from davetcoleman/minor_changes

Added default values for iostream in print statements
Merge pull request #187 from davetcoleman/robot_state_to_file_stream

New robot state to (file) stream conversion functions