Update JointPathEx IK #942
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…deprecated footstep information lleg_coords and rleg_coords. Remove unused current_* parameter from ABCIKparam.
…abilizer/Stabilizer.cpp,rtc/AutoBalancer/AutoBalancer.cpp] Add calcInverseKinematics2Loop function to take target pos and Rot and use it in ic, abc, and st. Currently omegaFromRot is under checking and tempolarily use old matrix_log function, so program behaviour does not change.
…ler/JointPathEx.*,rtc/Stabilizer/Stabilizer.cpp] Move end-effector version inverse kinematics to JointPathEx and use it in IC and ST.
…er/AutoBalancer.*,rtc/Stabilizer/Stabilizer.cpp] Enable to set IK weight vector for STtabilizer and Autobalancer like ImpedanceController.
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JointPathExのIKまわりを更新しました
よろしくお願いします。