IK fast kinematics wrapper only works for Transform6D

[mpowelson]

ikfast_inv_kin.hpp calls ComputeIK which takes a couple of double*. Depending on what IK type it is, those have different meanings. See here. It looks like the generated code does have a GetIkType function, but I don't see a key for what those mean. I will say that my generated code for a Ray4D returns 0x46000005.

Fixing this should just require figuring out what the IK type ints mean and then adding a switch in ik_fast_kin.hpp to pass in the angle in the correct format.

[zark-zeugan]

I wish to help you solve this issue. Could you direct me as to how I can get started?

[Levi-Armstrong]

I will take sometime and post my thoughts on how best to do this since this will also be part of the base interface. This is also related to issue #722.