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Testing the use of externally applied endpoint forces/torques in the Dynamics class.

Craig McDonald requested to merge feature/end-effector-dynamics-test into devel

Description

Added tests of jacobian at multiple points in TestForwardKinematics. Added tests of endpoint forces/torques in TestDynamics. Compared results against the sum of dynamics without endpoint forces/torques and the jacobian transpose times endpoint forces/torques. In order to perform this test, added to ForwardKinematics the ToolBodyJacobian, which is expressed in the frame at the tool instead of in the world frame. Also added to Dynamics class access to the tool jacobians.

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  • Fixes #issue-number
Edited by Amy Blank

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