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Minor improvements in Non Linear Control and added the interpolation to the Whole-Body Control Slerp (work in progress)

fredfas 2016-11-25

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Parent: [r42]

Child: [r44]

changed /trunk/ROS/catkin_ws/src/littlejohn_control/src/nonLinearControl.cpp
changed /trunk/ROS/catkin_ws/src/littlejohn_control/src/nonLinearControlReal.cpp
changed /trunk/ROS/catkin_ws/src/littlejohn_control/src/wholeBodyControlSlerp.cpp
changed /trunk/ROS/catkin_ws/src/littlejohn_control/src/wholeBodyControlSlerpReal.cpp
/trunk/ROS/catkin_ws/src/littlejohn_control/src/nonLinearControl.cpp Diff Switch to side-by-side view
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/trunk/ROS/catkin_ws/src/littlejohn_control/src/nonLinearControlReal.cpp Diff Switch to side-by-side view
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/trunk/ROS/catkin_ws/src/littlejohn_control/src/wholeBodyControlSlerp.cpp Diff Switch to side-by-side view
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/trunk/ROS/catkin_ws/src/littlejohn_control/src/wholeBodyControlSlerpReal.cpp Diff Switch to side-by-side view
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