orocos/orocos_kinematics_dynamics — pull request #35 by facontidavide (2014-10-30 14:34:22+00:00)
Title: Added joint limits to ChainIkSolverPos_LMA

I have added joints limit to the IK.
I don't know if this follows strictly your coding standards (by the way, sorry for the different tabulation).

We might have created a new class ChainIkSolverPos_LMA_JL, but it would have been a lot of code replicated.