Mads Holm Peters

Changed the order of multiplication when calculating quaternion based…

2

… vel and acc This is done since the velocity and acceleration is given in the body-local reference frame. The math supporting this change, can be found [here](https://arxiv.org/abs/0811.2889v1). I will...

This PR improves the primary interface support in the client library

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A big acknowledgement should be given to @fmauch and @urmarp as they have build the foundation for this PR in #26 and #137. I have tried to address the most...

Added check to ensure that the targets are reachable within the robot…

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…s limits This will break the test_joint_trajectory_position_interface test in the ROS Driver as part of the test is designed to activate the speed scaling by sending unreachable targets. These changes...

Trigger the drivers integration tests

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When introducing new changes to the client library, the changes applied could potentially make the drivers that are dependent on this library stop functioning properly. (ROS driver and Isaac driver)...

Rtde consumer thread in ExampleRobotWrapper throws exception when terminated.

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If you call startConsumingRTDEData(), from the ExampleRobotWrapper class, within your program and forget to call stopConsumingRTDEData(), before your program terminates it will throw an exception, because the class is destroyed...