Tekkotsu CVS Log

Commited Sat. June 19, 2010 at 09:35:23 PM EDT
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from Ethan Tira-Thompson
putting IKSolver cache in KinematicJoint so it doesn't have to be re-instantiated for each place IK is calculated (and makes it much easier to use)
MMotion/ArmMC.cc
MMotion/HeadPointerMC.cc
MMotion/KinematicJoint.cc
MMotion/KinematicJoint.h
MMotion/PostureEngine.cc
MMotion/XWalkMC.cc
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