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Commits on Jun 4, 2013

• Adding the tests that require 3D Simulink Animation to NOTEST for Drake build server.

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• fix IK (restoring previous interace) from Andres.

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• message monitor shouldn't reference a drc package (it was only doing it for it's unit test).

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• fix for manipulator dynamics derivatives in mex (from Frank).

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• pptrajectory eval index patch from michael kaess

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• one more comment line

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• added super cool mex debugging tool

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Commits on Jun 3, 2013

• temporarily disabling javapp

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• updated jar

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• singular H is a named warning (so that it can be quieted

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• pulled analytic zmp planner out into static method (which could be mix's)

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• fix from kaess.

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• resolves unit test error from collision group shape parsing.

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• re-init kaess' java pptraj when loaded from .mat file

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• updated jar

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• build scripts use pkgconfig.

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• another fix from kaess

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• handle vector eval (from michael kaess)

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• optimized pptrajectory eval from michael kaess

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• tightens optimality tolerance in inverseKinSequence (from sisir/michael/hongkai)

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Commits on Jun 1, 2013

• add option to ignore the cart-table frames.

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• added option to skip lyapunov function.

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• implemented s2 (using ode4). it almost doubles the time, but it's still fast.

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• fixed com coordinate bug. everything matches again.

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• optimized call to lqr, and added option for ignoring frames. (sad).

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• fixed derivation (so I don't have anything over-parameterized). s1 matches tvlqr again.

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• s1dot looks correct. i'm still worried about the value check that is commented out in the middle.

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Commits on May 31, 2013

• adding support for computing pairwise contact constraints (normals, friction cone approx, and derivatives) for rigid bodies. renaming previous pairwiseContactConstraint function pairwiseContactDist…

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• further updates to support subsets of contact points on rigid bodies

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Commits on May 30, 2013

• added inequality constraints to approximateIK. added test script in Atlas/test dir. still todo: incorporate quaternions from Hongkai

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Commits on May 29, 2013

• contactConstraints and contactPositions optionally take contact point indexes as arguments

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• making use_tvlqr true by default

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• halfway through analytic zmp riccati equation derivation / implementation. s1 is in, but doesn't match tvlqr quite yet. must still have a typo/bug. (it's disabled by default).

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Commits on May 28, 2013

• updates from andres (which also had changes from hongkai):

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