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
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7758 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
A typo in RelativePositionConstraint

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7772 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merge from trunk

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7773 c9849af7-e679-4ec6-a44e-fc146a885bd3
Fix a bug in the forwardKin when computing quaternion gradient in the singularity case. Still the singularity case is unsolved. Can't solve it unless we use rotation matrix representation

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7791 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7792 c9849af7-e679-4ec6-a44e-fc146a885bd3
Add a warning id for RigidBodyManipulator when it cannot find link index

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7801 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7808 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7817 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7818 c9849af7-e679-4ec6-a44e-fc146a885bd3
merge from trunk

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7821 c9849af7-e679-4ec6-a44e-fc146a885bd3
add SingleTimeLinearPostureConstraint to RigidBodyConstraint class. Will add support in IK later

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7847 c9849af7-e679-4ec6-a44e-fc146a885bd3
Add namespace in RigidBodyConstraint to get rid of global variables in this class

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7848 c9849af7-e679-4ec6-a44e-fc146a885bd3
Merged from branch 'trunk'

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7849 c9849af7-e679-4ec6-a44e-fc146a885bd3