Add Cartesian Velocity Controller#37

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egordon wants to merge 20 commits intomasterfrom

egordon/cartVel

Commits on Jun 27, 2020

Commits on Jun 30, 2020

Commits on Jul 1, 2020

Commits on Jul 3, 2020

Switch to Jacobian-based velocity controller
egordon
committed

Commits on Sep 22, 2020

Merge branch 'master' into egordon/cartVel
egordon
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Commits on Sep 23, 2020

Merge branch 'egordon/ftserver' into egordon/cartVel
egordon
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Commits on Oct 23, 2020

Merge branch 'master' into egordon/cartVel
egordon
committed

Commits on Oct 30, 2020

Actually start FTThresholdServer
egordon
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Commits on Dec 24, 2020

Compilation broken, require ControllerState explicitly
egordon
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