Move nullspace codes to calcInverseKinematics2Loop #260
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…alcInverseKinematics2Loop and solveLimbIK
fkanehiro
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Jul 15, 2014
Move nullspace codes to calcInverseKinematics2Loop
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#114
にあるように、solveLimbIK関数をなくしていくための変更で、
NullSpaceのコードの場所を移行するものです。
StableRTCであるSequenePlayerのsetTargetPoseで使われているコードに変更がありますが、
デフォルト引数によりNullSpaceをデフォルトでつかわなくしているので、挙動は同じになります。
（StableRTCの方にも影響がないと思います）
よろしくお願いします。
関連
#171
#215