Implemented new getPositionIK() from Kinematics Base#239

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Jmeyer1292 wants to merge 1 commit intoros-industrial:indigo-develfrom Jmeyer1292:kinematics_getAllIk

+142-40

Commits on Apr 25, 2016

Added an overload for the new 'getAllIK' function in KinematicsBase and added an appropriate helper function.
Jonathan Meyer
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