Add inverse kinematics example with implementations by Sam Buss.

Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.

examples/InverseKinematics/InverseKinematicsExample.h

@@ -0,0 +1,8 @@
+#ifndef INVERSE_KINEMATICSEXAMPLE_H
+#define INVERSE_KINEMATICSEXAMPLE_H
+
+enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS };
+
+class CommonExampleInterface*    InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options);
+
+#endif //INVERSE_KINEMATICSEXAMPLE_H