Added three integration methods - #49
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…e positional part of the admittance controller now uses the integration class. Yet to be implemented for the orientation.
…ance control python-example to use the new bindings.
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This pull requests adds a framework for numerical integration and currently implements RK1, RK2, and RK4.
How to use it can be seen in the admittance control example, though we still need to integrate the quaternion properly -- this stil uses the Euler integration.