Almost finishing the mex code for IKoptions, together with its test file

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7907 c9849af7-e679-4ec6-a44e-fc146a885bd3
All properties in C++ ikoptions can be updated. testIKoptions checks whether the C++ and MATLAB objects are consistent

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7915 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7916 c9849af7-e679-4ec6-a44e-fc146a885bd3
change to use forward declaration in IKoptions and RigidBodyConstraint. Fix a bug in wrapDeprecatedConstraint to use the new constructRigidBodyConstraint function

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7924 c9849af7-e679-4ec6-a44e-fc146a885bd3
QuatConstraint changes the way its value is computed. Will use this new way after the trial competition

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7925 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merge branch 'svn/trunk'

Conflicts:
	systems/plants/RigidBodyManipulator.h

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7926 c9849af7-e679-4ec6-a44e-fc146a885bd3
add constness to methods in RigidBodyConstraint

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7928 c9849af7-e679-4ec6-a44e-fc146a885bd3
add constness to ikoptions

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7929 c9849af7-e679-4ec6-a44e-fc146a885bd3
start to add approximateIK to RigidBodyManipulator C++ object, instead of a standalone mex function

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7930 c9849af7-e679-4ec6-a44e-fc146a885bd3
fix compile bug in approximateIK, now I have linkage problem

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7943 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merge branch 'svn/trunk'

Conflicts:
	systems/plants/RigidBodyManipulator.h

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7944 c9849af7-e679-4ec6-a44e-fc146a885bd3
1. Remove all the constructPtrXXXconstraintmex.cpp and updatePtrXXXconstraintmex.cpp
2. Write a standalone approximateIK and its C++ test function. For the moment I have segmentation fault while setting Q in the objective

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7955 c9849af7-e679-4ec6-a44e-fc146a885bd3
1. approximateIK has its standalone C++ version
2. start to add documentation to the C++ RigidBodyConstraint

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7970 c9849af7-e679-4ec6-a44e-fc146a885bd3
I have a compile problem in inverseKinBackend when dealing with file scope variables.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7985 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7986 c9849af7-e679-4ec6-a44e-fc146a885bd3
delete all the deprecated constructPtrXXXConstraintmex and updatePtrXXXConstraintmex

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7987 c9849af7-e679-4ec6-a44e-fc146a885bd3
Now the compilation error is gone. I have linking problem to the instantiated inverseKinBackend functions

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7989 c9849af7-e679-4ec6-a44e-fc146a885bd3
completed inverseKinBackend.cpp. Still get linking error, but no compilation error

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7990 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7997 c9849af7-e679-4ec6-a44e-fc146a885bd3
IK can run in C++ only. The mex wrapper still have segmentation fault

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@8013 c9849af7-e679-4ec6-a44e-fc146a885bd3