Plugin regenerated using recent version of openrave ( 9c79ea260e1c009b0a6f7c03ec34f59629ccbe2c ) from August 2016 branch 'latest_stable'
(the trick was NOT to install any dependencies besides pcre, ie compile a minimal subset of openrave)

Extended it by sorting the results by distance to seed state and then collision/validity checking all of them till success

Requires C++11

Our fanuc controller apparently has a limit on j3-j2 < 25° set, check this in ik-fast plugin
not configurable yet

…uration

since there is not enough information contained to calculate both velocity
 and acceleration we assume infinitely high acceleration, ie constant
 velocity. This will slightly underestimate the intended velocity override
 and is therefore a good conservative approach.

…etween 0 and 1.0

…better debug output