No documentation for IkFast

[Tokrat]

Hi,
the issue #887 indicated that a documentation for IkFast in dart was created, for example:

• how to generate the cpp class for a new robot using urdf
• how to use the api with an example if possible

But I don't find anything, I'm struggling to find anything about the IkFast solver, it seems that the only solution would be to install OpenRave to generate the files before be able to use Dart.

I'm new to dart and even if the software seems awesome I have lots of problem figuring out how everything should be done, the tutorial part / example part could be extended.

Thanks