Version 1 Release

Issuing an official 1st version release of this code.

Features:

1. Static methods for solving simple, unconstrained problems.
2. Solutions with equality constraints.
3. Interior-point algorithm for inequality constraints.

Tested and verified with:

• ROS2 serial_link_action_server (see Kuka velocity control package for application), and
• Bimanual control of the iCub / ergoCub robot.