Implementation of the method devised in the paper, 'http://dl.acm.org/citation.cfm?id=1964954'.
Matrix class
-Header : http://www.quantstart.com/articles/Matrix-Classes-in-C-The-Header-File -Source : http://www.quantstart.com/articles/Matrix-Classes-in-C-The-Source-File
Decision of damping parameters for IK done with the help of: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf Dependencies
Open Dynamics Engine (ODE)
Installation guidelines - http://ode-wiki.org/wiki/index.php?title=Manual:_Install_and_Use