shaozilong

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Reference of Siegert

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Hi, In the rl/kin/Puma.cpp file, the Puma::inversePosition function gives reference to Siegert p79, p81, could you please provide the reference of this? Best regards Zilong

issus on making the point number as a variable and extending the error function

Hi, Peter, Thanks for sharing this small-size but powerful library for nonlinear least square problem, I tried it and tested it with other problems and with more points, it works...