RobotLocomotion/drake — pull request #32 by hongkai-dai (2014-02-17 15:28:38+00:00)
Title: Relative position constraint

1. Implement RelativePositionConstraint using quaternion in both MATLAB and C++
2. Change the 'name' function in PositionConstraint. Now it is cleaner. The non-abstract class does not need to worry about which row of the constraint being null.