Hello,

I am currently trying to implement a task specified according to iTasc using the stuff in kdl/experimental. But I don't really understand how the ConstraintMatrix class is to be used. Maybe one of you has used this before and could post a little example on how to implement a constraint-based task?

Can the files in kdl/experimental/ be merged into the kdl root folder without problems? The includes in /experimental are set as if all files were located directly in kdl include directory, but there are conflicting files (i.e. jacobian.hpp).

Thanks in advance, Steffen Walther