merge from hongkai:

Add some constraints for distance between primitives, like point to point distance, point to line segment distance
Add MultipleTimeLinearPostureConstraint. This allows us to use linear constraint instead of nonlinear constraints when searching for a pose with some joints fixed.
Add some distance computation for primitives in the collision computation
Rename 'Constraint' to 'RigidBodyConstraint'.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7750 c9849af7-e679-4ec6-a44e-fc146a885bd3
patches for failing unit tests from hongkai

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7753 c9849af7-e679-4ec6-a44e-fc146a885bd3
resolves crashing bug on my mac.  sort of can’t believe that this code could have been working at all…?

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7754 c9849af7-e679-4ec6-a44e-fc146a885bd3
IKtraj passes MultipleTimeLinearPostureConstraint. Rename Constraint to RigidBodyConstraint
Fix some bugs in inverseKinWrap and testIKGaze to pass the test
add more test cases for MultipleTimeLinearPostureConstraint

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7752 c9849af7-e679-4ec6-a44e-fc146a885bd3
Now all RigidBodyConstraint support copy constructors. A new mex pointer would be constructed when some field of the RigidBodyConstraint are modified. Can cause a memory leak, but I do not have a better solution

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7755 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merge branch 'svn/trunk'

Conflicts:
	.gitattributes
	systems/plants/RigidBodyManipulator.cpp
	systems/plants/constraint/Point2LineSegDistConstraint.m
	systems/plants/constraint/RelativeGazeTargetConstraint.m
	systems/plants/constraint/RigidBodyConstraint.cpp
	systems/plants/constraint/RigidBodyConstraint.h
	systems/plants/constraint/constructPtrRelativeGazeTargetConstraintmex.cpp
	systems/plants/constraint/test/testPostureConstraint.m
	systems/plants/constraint/updatePtrPoint2LineSegDistConstraintmex.cpp
	systems/plants/constraint/updatePtrRelativeGazeTargetConstraintmex.cpp
	systems/plants/test/testIKtraj.m

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7756 c9849af7-e679-4ec6-a44e-fc146a885bd3
cleaned up build for yet another mac config that was failing.  turned BUILD_SHARED_LIBS to ON

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7757 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7758 c9849af7-e679-4ec6-a44e-fc146a885bd3
sadly, have to disable -Werror because of deprecated glu/glut calls on os x 10.9.  see bug 1887

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7759 c9849af7-e679-4ec6-a44e-fc146a885bd3
handle the case where there are no new ldflags

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7760 c9849af7-e679-4ec6-a44e-fc146a885bd3
remove STATIC from drakeQP lib

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7762 c9849af7-e679-4ec6-a44e-fc146a885bd3
fix for pods.cmake … yikes.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7763 c9849af7-e679-4ec6-a44e-fc146a885bd3
Rewrite WorldGazeTargetConstraint and WorldGazeDirConstraint to get rid of 'quatTransform' function, which causes singularity problem. Also check the IK solution if SNOPT info is 31 or 32. If the problem is feasible, then change the INFO to 5 and 6 respectively

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7768 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7769 c9849af7-e679-4ec6-a44e-fc146a885bd3