├── .docker ├── ci-shadow-fixed │ └── Dockerfile ├── ci │ └── Dockerfile └── source │ └── Dockerfile ├── .gitignore ├── .travis.yml ├── .travis_ci ├── travis.sh └── util.sh ├── README.md ├── sns_ik ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── sns_ik_examples ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── example_baxter_joint_limits.yaml │ └── example_sawyer_joint_limits.yaml ├── launch │ ├── test_baxter.launch │ ├── test_ik_solvers.launch │ └── test_sawyer.launch ├── package.xml └── src │ └── ik_tests.cpp ├── sns_ik_kinematics_plugin ├── CATKIN_IGNORE ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md └── package.xml └── sns_ik_lib ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE.txt ├── include └── sns_ik │ ├── fosns_velocity_ik.hpp │ ├── fsns_velocity_ik.hpp │ ├── osns_sm_velocity_ik.hpp │ ├── osns_velocity_ik.hpp │ ├── sns_acc_ik_base.hpp │ ├── sns_ik.hpp │ ├── sns_ik_base.hpp │ ├── sns_position_ik.hpp │ ├── sns_vel_ik_base.hpp │ ├── sns_vel_ik_base_interface.hpp │ └── sns_velocity_ik.hpp ├── matlab ├── FindScaleFactor.m ├── LICENSE.txt ├── README.md ├── TEST_acc_ik_solvers.m ├── TEST_vel_ik_solvers.m ├── runTest_snsIk_acc.m ├── runTest_snsIk_acc_cs.m ├── runTest_snsIk_acc_mt.m ├── runTest_snsIk_vel.m ├── runTest_snsIk_vel_cs.m ├── runTest_snsIk_vel_mt.m ├── snsIk_acc_QP.m ├── snsIk_acc_QP_mt.m ├── snsIk_acc_opt.m ├── snsIk_acc_rr.m ├── snsIk_acc_rr_cs.m ├── snsIk_acc_rr_mt.m ├── snsIk_vel_QP.m ├── snsIk_vel_QP_mt.m ├── snsIk_vel_basic.m ├── snsIk_vel_opt.m ├── snsIk_vel_rr.m ├── snsIk_vel_rr_cs.m └── snsIk_vel_rr_mt.m ├── package.xml ├── src ├── fosns_velocity_ik.cpp ├── fsns_velocity_ik.cpp ├── osns_sm_velocity_ik.cpp ├── osns_velocity_ik.cpp ├── sns_acc_ik_base.cpp ├── sns_ik.cpp ├── sns_ik_base.cpp ├── sns_position_ik.cpp ├── sns_vel_ik_base.cpp ├── sns_vel_ik_base_interface.cpp └── sns_velocity_ik.cpp ├── test ├── rng_utilities.cpp ├── rng_utilities.hpp ├── rng_utilities_test.cpp ├── sawyer_model.cpp ├── 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