Merge pull request #22 from francesco-romano/master

Add Boost header path to KDL_INCLUDE_DIRS variable
velocityprofile: Support trap. velocity profile with velocity specification

Support a profile with a fraction of maximum velocity, instead of
a time, specification.
solvers: Update documentation and add degraded and undefined error codes to solver interface
solvers: Add missing return
solvers: Support changing internal parameters after construction of IKSolverVel_WDLS

Also removes an unnecessary pass-by-reference parameter.
solvers: Modify ChainJntToJacSolver to support calculating Jacobian in intermediate frames
solvers: Correctly return degraded error code if child solver indicates degraded solution in IKSolverVel_NR
PyKDL: several OSX fixes

* Only require on the major and minor version for finding the libs.
* Use python executable to determine the relative site packages directory
* make sure to build as MODULE on OSX as .dylib are not recognised by python

Signed-off-by: Ruben Smits <ruben@intermodalics.eu>
kdl: fix toggling of left-right solving for the SVD calculation

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
cmake: Silence Eigen >= 3.2.0 warnings about deprecated Eigen2
Merge pull request #24 from snrkiwi/fixes

Miscellaneous fixes
tests: allow degraded solutions in the test

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
drop Eigen2 support since it will be deprecated in Eigen 3.3

also replace the already existing lazyProduct with the noalias as
suggested on http://eigen.tuxfamily.org/dox/Eigen2ToEigen3.html

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
fix numerous compiler warnings

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
solvers: replace static const by enum, as defining and assigning static consts in a header is not safe.

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
Adding metapackage

Adding travis file for CI

Fixing travis tests config

chainjnttojacsolver: Missing return value

fixing metapackage version
resolve merge conflict
solvers: Fix chainjnttojacsolver to use solver interface
Merge pull request #26 from snrkiwi/expand-solveri

solvers: Fix chainjnttojacsolver to use solver interface
solvers: Add lambda_scaled computation check for sigmaMin in WDLS

Helps prevent a possible computatin of the square root of
a negative number when sigmaMin > eps.