Closest Solution when using getSolution

Issue #58 resolved
Rohit Menon created an issue

I am using the solveType Speed with trac_ik. using the getSolutions, If I understand correctly I can get the multiple solutions. Of of these, which one is the solution that is closest to the initialised joint value. I want to pass the whole vector of solutions and get that without using the soln from the CartToJnt

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