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Adds a first draft of a generic IK functionality - #4

Open
JonathanKuelz wants to merge 15 commits into
utiasSTARS:revisionsfrom
JonathanKuelz:dev/generic_ik_interface
Open

Adds a first draft of a generic IK functionality#4
JonathanKuelz wants to merge 15 commits into
utiasSTARS:revisionsfrom
JonathanKuelz:dev/generic_ik_interface

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