working on replacing dynamical system constraint methods with the new constraint classes
working on replacing dynamical system constraint methods with the new constraint classes
acrobot lqr example works again
zapped UnsupportedJointLimits warning
urdf model with joint limits works again
most acrobot tests work again
all acrobot unit tests pass again
working on loop joints
keep state constraint ids instead of duplicates of the constraints
adds position and velocity frames for each rigid body manipulator
working on replacing dynamical system constraint methods with the new constraint classes
acrobot lqr example works again
zapped UnsupportedJointLimits warning
urdf model with joint limits works again
all acrobot unit tests pass again
working on loop joints
loop joints work again.  now using DrakeFunctionConstraints
display infeasible constraints in inspector
adds display method for constraint class
disable state constraints in hybrid systems for the moment