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[JointPath] add IK with SrInverse#50

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Commits on Feb 24, 2015

• [JointPath] add IK with SrInverse

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• [EigenTypes.h] add output operator

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• [hrplib/hrpUtil/MatrixSolvers] add calcSRInverse

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Commits on Mar 16, 2015

• [.travis.yml] -qq did not generate anything for 10 min

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