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
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
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
quieting warnings in unit tests.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7770 c9849af7-e679-4ec6-a44e-fc146a885bd3
publish drake urdf interface out via pods_install

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7771 c9849af7-e679-4ec6-a44e-fc146a885bd3
adds use_mex_kinematics option to constraint tester so to quiet warnings from allbodiesclosestdistance, but still support relativegaze

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7777 c9849af7-e679-4ec6-a44e-fc146a885bd3
starting to work on new lcmtypes script.  this is an intermediate commit (the new code doesn’t get called from anywhere yet)

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7778 c9849af7-e679-4ec6-a44e-fc146a885bd3
patched from Andres: 1) RBM_drawLCMGLAxes.diff - Adds a method to RigidBodyManipulator that draws the body-reference-frame for all links in a manipulator in a given state. Can also draw axes for specified links only. Nice for debugging.


2) TimeSteppingRBM_name.diff - Adds a 'name' property to TimeSteppingRigidBody manipulator that is synced to the 'name' property of the object's 'manip' during compilation. This allows TimeSteppingRigidBodyManipulators to be passed as inputs to Constraint constructor that check robotnums (WorldCOMPosition etc.);


3) WorldPositionInFrameConstraint.diff - Fixes the input argument parsing for this constraint class, so that tspan is optional, as it should be.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7779 c9849af7-e679-4ec6-a44e-fc146a885bd3
reverting name patch in TSRBM, it caused errors

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7782 c9849af7-e679-4ec6-a44e-fc146a885bd3
new lcmtypes scripts are almost working...

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7785 c9849af7-e679-4ec6-a44e-fc146a885bd3
cleaned up interface for backwards compatibility.
fixed java implementation

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7787 c9849af7-e679-4ec6-a44e-fc146a885bd3
use pods for lcm jar

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7788 c9849af7-e679-4ec6-a44e-fc146a885bd3
added rules for aggregate hpp file.  aggregate h file still a work in progress..

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7794 c9849af7-e679-4ec6-a44e-fc146a885bd3
fixed aggregate headers (using “VERBATIM” tag on add_custom_command)

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7805 c9849af7-e679-4ec6-a44e-fc146a885bd3
implemented file search with GLOB.  robustified existing parsing.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@7806 c9849af7-e679-4ec6-a44e-fc146a885bd3