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Commits on Sep 13, 2016

• clang-format (selectively in RigidBodyTree.cpp; only formatted code that I touched).

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• Fix comment style.

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• cpplint.

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• Fix for win32. I don't understand yet why this was necessary.

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• Attempt to fix assertion error on MSVC.

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• fix cpplint issues

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• cleanup

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• Fix RobotLocomotion#2201. Computation of body spatial accelerations was wrong when joint acceleration vector was not all zeros (component due to joint acceleration was not propagated). Makes the tw…

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• Add momentum rate of change test.

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• Add test verifying relationship between potential energy and generalized gravitational forces.

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• Add some inverseDynamics tests.

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• Add explicit instantiations required for test.

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• Add missing include.

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• Start work on inverse dynamics test.

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Commits on Sep 8, 2016

• Use back().

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• Return port descriptor from Declare*Port methods.

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Commits on Sep 7, 2016

• Merge pull request RobotLocomotion#3321 from tkoolen/tk-autodiff-jacobian-hessian

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• Don't use random.

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• Address more comments.

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Commits on Sep 6, 2016

• Address comments.

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Commits on Aug 31, 2016

• Add jacobian, hessian functions + tests.

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Commits on Aug 30, 2016

• Merge pull request RobotLocomotion#3300 from tkoolen/tk-fix-update-eigen

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• re-disable testIKMoreConstraints with Ipopt.

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• Add comment referring to eigen issue.

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• Run testIKMoreConstraints with Ipopt again.

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Commits on Aug 29, 2016

• Only run testIKMoreConstraints when SNOPT is available; Ipopt is finicky.

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• Work around assertion error issue (http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1283).

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Commits on Aug 25, 2016

• Revert "Revert "Merge pull request RobotLocomotion#3227 from tkoolen/update-eigen""

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Commits on Aug 24, 2016

• Merge pull request RobotLocomotion#3227 from tkoolen/update-eigen

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Commits on Aug 23, 2016

• point to eigen-pod version with recent default branch commit

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• Update NumTraits for FunctionalForm.

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• 3.3 beta 2 fix

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Commits on Mar 3, 2016

• Reformat.

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• Merge branch 'master' into tk-fix-matlab-to-eigen-empty

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Commits on Mar 1, 2016

• Improved size determination logic in matlabToEigenMap for the case of empty matrices.

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