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
add another test case for testSingleTimeLinearPostureConstraint

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7852 c9849af7-e679-4ec6-a44e-fc146a885bd3
inverseKin support SingleTimeLinearPostureConstraint in MATLAB, will work on mex part

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7853 c9849af7-e679-4ec6-a44e-fc146a885bd3
Fix a bug that in the previous parsing of MultipleTimeLinearPostureConstraint, in snoptIKtraj_userfun, the nf_cum is not incremented by the MultipleTimeLinearPostureConstraint

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7856 c9849af7-e679-4ec6-a44e-fc146a885bd3
inverseKin supports SingleTimeKinematicConstraint in both MATLAB and mex. Will check inverseKinTraj

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7857 c9849af7-e679-4ec6-a44e-fc146a885bd3
inverseKinTraj also supports SingleTimeLinearPostureConstraint. For the moment I am not going to add such support in approximateIK

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/hongkaidev@7858 c9849af7-e679-4ec6-a44e-fc146a885bd3