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Commits on Jul 3, 2013

• viewer works for atlas and pr2 examples.

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• atlas rendering works (although it still produces a warning)

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• working commit: fixing wavefront meshes implementation in drake_urdf_renderer

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• fix urdf parser error reporting.

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• updated template files from Tim.

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• resolves bug 1616 by computing spatial forces using the Xtree kinematics instead of the Ttree kinematics (which are different for the extrinsic floating bases)

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• first pass at including avl/xfoil support in a robust way.

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• update f_ext logic for planar models. (the build server caught this one for me. yeah!)

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• added RigidBodyWing class from Tim. i haven't integrated avl/xfoil yet, so added an error for that case.

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Commits on Jul 2, 2013

• update to actionsequence for rigidbody pass-by-value (from Andres)

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• remove collision group methods work again (were still assuming pass by ref rigid body)

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• unit test from Andres

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• adding documentation

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Commits on Jun 30, 2013

• passing all (expected) unit tests after mods to rigidbody.

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• RigidBody is no longer a handle class.

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• testing debugMex of constructModelmex

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• converted rigidbodymanipulator mex files over to using DrakeMexPointer objects.

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Commits on Jun 17, 2013

• from Robin: sprintf is faster than num2str

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• minor optimizations around shareddatahandles

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• speedup from Robin

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Commits on Jun 16, 2013

• fix code from kaess

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• added fast eval for PP and ExpPP trajectories, which avoids error checking

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• mex version of pptrajectory eval from kaess

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Commits on Jun 15, 2013

• gurobiQP is implemented, but fails on simple test cases.

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• this is the version of the fast QP that I sent to frank.

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• another fix from Andres...again

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• reverting last commit

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• another fix from Andres

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• typo fix from Andres

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Commits on Jun 14, 2013

• adds trim method

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Commits on Jun 12, 2013

• partial revert of change from hongkai.

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• added joint limit option to matlab approximate IK (need to push into mex still)

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• patch from hongkai

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• added realtime option to runLCM. useful for playing joint trajectories at gazebo realtime factor.

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• support initial conditions in visualizer inspector

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