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I am Baxter robot user. I want to use Custom IKFast for Baxter robot and in order to do that I followed the following tutorial, http://sdk.rethinkrobotics.com/wiki/Custom_IKFast_for_your_Baxter. I have successfully generated ikfast_solver.cpp for both the arms respectively. Baxter's webpage shows how to integrate these files with MoveIt. What I want is to use these two files with out using MoveIt to solve inverse kinematics given one particular cartesian configuration of the end effector. Is there a way where I can use these files to solve inverse kinematics independently?