BoxBOD : oops.. shame on me, i did a mistake in the derivative.... now we need 16 iterations instead of 7693 ;-) the first test still fails though.
BoxBOD : oops.. shame on me, i did a mistake in the derivative.... now we need 16
iterations instead of 7693 ;-)
the first test still fails though.

robustrobotics/eigen,robustrobotics/eigen,robustrobotics/eigen,robustrobotics/eigen