Added new IKController (inverse kinematics) as copy of IDController for now.
Added IKController to cmakelists for package
Controller fixes; compiles into LCSR_CONTROLLERS library now.
Carried over IKController code from "CartesianPose.cpp".
Changed from KDL to eigen for compatibility with new ROS/OROCOS code
controller edits to fix error with kdl tree
updating rml joint traj controller to properly permute joint names and broadcast controller state
rml_traj: adding empty-trajectory-stop behavior
rml: separating segment modification into const functions
rml: adding full actionlib support
rml_traj: Trajectory action working
Update README.md
Update README.md
rml: more robust actionlib support
Merge branch 'master' of github.com:jhu-lcsr/lcsr_controllers
Merge branch 'master' into ikwork
removing whitespace
Merge branch 'ikwork'
fixing ik / rml controller behavior for streaming traj messages
Simplifying jtns error computation, adding nullspace terms