[pull] master from UniversalRobots:master #65
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* Make calibration tests parametrizable * Fix calibration correction There was an error from using std::atan instead of std::atan2. In most cases that seemed to work fine, but with certain calibrations the calculated angle could end up in another quadrant, so atan was returning the wrong angle. We renamed a lot of variables and changed some of the docstrings in order to hopefully make things more understandable in the future. * Add a comment on test suite parametrization
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