steps from meeting with andrew and paul

[ahundt]

• instructions for creating new constraints
• merging changes from snake tree
  • update outdated virtual
  • add relevant virtual fixtures from snake tree
  • add helper functions paul created in his controller to base controller for basic virtual fixtures
• test that merged devel changes don't break cmake with cisst
• verify that new changes don't break build and install steps (andrew)
• test merged devel changes with negative sign added to mtsvffollow on ur5
• re-read and improve README.md, ask questions if needed (for andrew)

[pwilken3]

The "update outdated virtual fixtures" step didn't need to be done after all. mtsVFJointPos.cpp and mtsVFJointVel.cpp are the base classes of different kinds of virtual fixtures (incremental motion and velocity). If you want to create a joint position limit VF or a joint velocity limit VF, you use mtsVFAbsoluteJointLimits.cpp and mtsVFJointLimits.cpp. Sorry for the confusion earlier. When I add to the instructions I'll explicitly mention this.

[pwilken3]

• Updates to wiki
  • Add explanation for ObjectiveRows and IneqConstraintRows
  • Make sure that equations use >= for ineq constraints
  • Add example that uses the new helper functions and points user to where these can be found
• Code changes
  • Check that upper limits and lower limits are the same, use for number of joints
  • Remove number of rows from joint limits, can be assumed to be num of joints x 2

[ahundt]

has there been any progress on these items?