RobotLocomotion/drake — pull request #40 by hongkai-dai (2014-02-20 02:52:23+00:00)
Title: Relative quat constraint

1. Add full support in both MATLAB and C++ for RelativeQuatConstraint.
2. Fix a bug in inverseKinWrapup function for constructing constraint mex pointers. I will stop supporting inverseKinWrapup.m and wrapDeprecatedConstraint in the future.