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/ThirdPartyLibs/BussIK/VectorRn.cpp

@@ -0,0 +1,46 @@
+/*
+*
+* Mathematics Subpackage (VrMath)
+*
+*
+* Author: Samuel R. Buss, sbuss@ucsd.edu.
+* Web page: http://math.ucsd.edu/~sbuss/MathCG
+*
+*
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*
+*
+*/
+
+
+//
+// VectorRn:  Vector over Rn  (Variable length vector)
+//
+
+#include "VectorRn.h"
+
+VectorRn VectorRn::WorkVector;
+
+double VectorRn::MaxAbs () const
+{
+	double result = 0.0;
+	double* t = x;
+	for ( long i = length; i>0; i-- ) {
+		if ( (*t) > result ) {
+			result = *t;
+		}
+		else if ( -(*t) > result ) {
+			result = -(*t);
+		}
+		t++;
+	}
+	return result;
+}