RobotLocomotion/drake — pull request #21 by avalenzu (2014-02-03 19:33:44+00:00)
Title: Fix atlas examples

Fixes frame clobbering in `Atlas/compile` (Bug #17). Also replaces the dangerously wrong `getNumStates()/2` with `getNumDOF()` throughout `examples/Atlas`.

The `Atlas` class does still assume that it's state and output frames are identical, even without a full-state feedback sensor.